mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-22 21:13:33 +08:00
Beat Küng
29af2343e1
Without that the parameter was not in parameters.xml, producing the error: ERROR [lib__controllib] error finding param: NAV_TRAFF_AVOID
201 lines
5.1 KiB
C
201 lines
5.1 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 navigator_params.c
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*
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* Parameters for navigator in general
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*
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* @author Julian Oes <julian@px4.io>
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* @author Thomas Gubler <thomas@px4.io>
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*/
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/**
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* Loiter radius (FW only)
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*
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* Default value of loiter radius for missions, loiter, RTL, etc. (fixedwing only).
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*
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* @unit m
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* @min 25
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* @max 1000
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
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/**
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* Acceptance Radius
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*
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* Default acceptance radius, overridden by acceptance radius of waypoint if set.
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* For fixed wing the L1 turning distance is used for horizontal acceptance.
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*
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* @unit m
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* @min 0.05
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* @max 200.0
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
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/**
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* FW Altitude Acceptance Radius
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*
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* Acceptance radius for fixedwing altitude.
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*
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* @unit m
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* @min 0.05
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* @max 200.0
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_FW_ALT_RAD, 10.0f);
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/**
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* MC Altitude Acceptance Radius
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*
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* Acceptance radius for multicopter altitude.
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*
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* @unit m
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* @min 0.05
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* @max 200.0
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* @decimal 1
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* @increment 0.5
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(NAV_MC_ALT_RAD, 0.8f);
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/**
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* Set data link loss failsafe mode
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*
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* The data link loss failsafe will only be entered after a timeout,
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* set by COM_DL_LOSS_T in seconds. Once the timeout occurs the selected
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* action will be executed. Setting this parameter to 4 will enable CASA
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* Outback Challenge rules, which are only recommended to participants
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* of that competition.
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*
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* @value 0 Disabled
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* @value 1 Loiter
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* @value 2 Return to Land
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* @value 3 Land at current position
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* @value 4 Data Link Auto Recovery (CASA Outback Challenge rules)
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* @value 5 Terminate
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* @value 6 Lockdown
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*
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* @group Mission
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*/
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PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
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/**
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* Set RC loss failsafe mode
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*
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* The RC loss failsafe will only be entered after a timeout,
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* set by COM_RC_LOSS_T in seconds. If RC input checks have been disabled
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* by setting the COM_RC_IN_MODE param it will not be triggered.
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* Setting this parameter to 4 will enable CASA Outback Challenge rules,
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* which are only recommended to participants of that competition.
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*
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* @value 0 Disabled
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* @value 1 Loiter
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* @value 2 Return to Land
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* @value 3 Land at current position
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* @value 4 RC Auto Recovery (CASA Outback Challenge rules)
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* @value 5 Terminate
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* @value 6 Lockdown
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*
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* @group Mission
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*/
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PARAM_DEFINE_INT32(NAV_RCL_ACT, 2);
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/**
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* Set traffic avoidance mode
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*
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* Enabling this will allow the system to respond
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* to transponder data from e.g. ADSB transponders
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*
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* @value 0 Disabled
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* @value 1 Warn only
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* @value 2 Return to Land
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* @value 3 Land immediately
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*
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* @group Mission
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*/
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PARAM_DEFINE_INT32(NAV_TRAFF_AVOID, 1);
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/**
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* Airfield home Lat
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*
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* Latitude of airfield home waypoint
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*
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* @unit deg * 1e7
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* @min -900000000
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* @max 900000000
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* @group Data Link Loss
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*/
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PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);
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/**
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* Airfield home Lon
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*
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* Longitude of airfield home waypoint
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*
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* @unit deg * 1e7
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* @min -1800000000
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* @max 1800000000
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* @group Data Link Loss
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*/
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PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250);
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/**
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* Airfield home alt
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*
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* Altitude of airfield home waypoint
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*
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* @unit m
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* @min -50
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* @decimal 1
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* @increment 0.5
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* @group Data Link Loss
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*/
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PARAM_DEFINE_FLOAT(NAV_AH_ALT, 600.0f);
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/**
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* Force VTOL mode takeoff and land
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*
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* @boolean
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* @group Mission
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*/
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PARAM_DEFINE_INT32(NAV_FORCE_VT, 1);
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