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106 lines
3.0 KiB
C
106 lines
3.0 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2014-2016 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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* @file rtl_params.c
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*
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* Parameters for RTL
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*
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* @author Julian Oes <julian@oes.ch>
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*/
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/*
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* RTL parameters, accessible via MAVLink
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*/
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/**
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* RTL altitude
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*
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* Altitude to fly back in RTL in meters
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*
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* @unit m
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* @min 0
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* @max 150
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* @decimal 1
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* @increment 0.5
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* @group Return To Land
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*/
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PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
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/**
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* RTL loiter altitude
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*
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* Stay at this altitude above home position after RTL descending.
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* Land (i.e. slowly descend) from this altitude if autolanding allowed.
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*
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* @unit m
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* @min 2
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* @max 100
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* @decimal 1
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* @increment 0.5
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* @group Return To Land
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*/
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PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
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/**
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* RTL delay
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*
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* Delay after descend before landing in RTL mode.
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* If set to -1 the system will not land but loiter at RTL_DESCEND_ALT.
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*
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* @unit s
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* @min -1
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* @max 300
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* @decimal 1
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* @increment 0.5
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* @group Return To Land
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*/
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PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
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/**
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* Minimum distance to trigger rising to a safe altitude
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*
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* If the system is horizontally closer than this distance to home
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* it will land straight on home instead of raising to the return
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* altitude first.
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*
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* @unit m
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* @min 0.5
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* @max 20
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* @decimal 1
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* @increment 0.5
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* @group Return To Land
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*/
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PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 5.0f);
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