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1c821cf83d
* FlightTaskAuto: disable MPC_LAND_RADIUS by default * format & comment * Remove position valididy check again * clean up according to review
70 lines
2.8 KiB
C
70 lines
2.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2023 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Enable nudging based on user input during autonomous land routine
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*
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* Using stick input the vehicle can be moved horizontally and yawed.
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* The descend speed is amended:
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* stick full up - 0
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* stick centered - MPC_LAND_SPEED
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* stick full down - 2 * MPC_LAND_SPEED
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*
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* Manual override during auto modes has to be disabled to use this feature (see COM_RC_OVERRIDE).
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*
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* @min 0
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* @max 1
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* @value 0 Nudging disabled
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* @value 1 Nudging enabled
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_INT32(MPC_LAND_RC_HELP, 0);
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/**
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* User assisted landing radius
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*
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* When nudging is enabled (see MPC_LAND_RC_HELP), this defines the maximum
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* allowed horizontal displacement from the original landing point.
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* - If inside of the radius, only allow nudging inputs that do not move the vehicle outside of it.
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* - If outside of the radius, only allow nudging inputs that move the vehicle back towards it.
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*
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* Set it to -1 for infinite radius.
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*
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* @unit m
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* @min -1
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* @decimal 0
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* @increment 1
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* @group Multicopter Position Control
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*/
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PARAM_DEFINE_FLOAT(MPC_LAND_RADIUS, -1.0f);
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