PX4-Autopilot/src/modules/land_detector/land_detector_params.c

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/**
 * @file land_detector.c
 * Land detector algorithm parameters.
 *
 * @author Johan Jansen <jnsn.johan@gmail.com>
 */

/**
 * Multicopter max climb rate
 *
 * Maximum vertical velocity allowed in the landed state (m/s up and down)
 *
 * @unit m/s
 * @decimal 1
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.70f);

/**
 * Multicopter max horizontal velocity
 *
 * Maximum horizontal velocity allowed in the landed state (m/s)
 *
 * @unit m/s
 * @decimal 1
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.50f);

/**
 * Multicopter max rotation
 *
 * Maximum allowed angular velocity around each axis allowed in the landed state.
 *
 * @unit deg/s
 * @decimal 1
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);

/**
 * Multicopter specific force threshold
 *
 * Multicopter threshold on the specific force measured by accelerometers in m/s^2 for free-fall detection
 *
 * @unit m/s^2
 * @min 0.1
 * @max 10
 * @decimal 2
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_FFALL_THR, 2.0f);

/**
 * Multicopter sub-hover throttle scaling
 *
 * The range between throttle_min and throttle_hover is scaled
 * by this parameter to define how close to minimum throttle
 * the current throttle value needs to be in order to get
 * accepted as landed.
 *
 * @min 0.05
 * @max 0.5
 * @decimal 2
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_THR_RANGE, 0.1f);

/**
 * Multicopter free-fall trigger time
 *
 * Seconds (decimal) that freefall conditions have to met before triggering a freefall.
 * Minimal value is limited by LAND_DETECTOR_UPDATE_RATE=50Hz in landDetector.h
 *
 * @unit s
 * @min 0.02
 * @max 5
 * @decimal 2
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_FFALL_TTRI, 0.3);

/**
 * Manual flight stick down threshold for landing
 *
 * When controlling manually the throttle stick value (0 to 1)
 * has to be bellow this threshold in order to pass the check for landing.
 * So if set to 1 it's allowed to land with any stick position.
 *
 * @min 0
 * @max 1
 * @decimal 2
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_MAN_DWNTHR, 0.15f);

/**
 * Fixedwing max horizontal velocity
 *
 * Maximum horizontal velocity allowed in the landed state (m/s)
 *
 * @unit m/s
 * @min 0.5
 * @max 10
 * @decimal 1
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDFW_VEL_XY_MAX, 5.0f);

/**
 * Fixedwing max climb rate
 *
 * Maximum vertical velocity allowed in the landed state (m/s up and down)
 *
 * @unit m/s
 * @min 5
 * @max 20
 * @decimal 1
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDFW_VEL_Z_MAX, 10.0f);

/**
 * Fixedwing max short-term velocity
 *
 * Maximum velocity integral in flight direction allowed in the landed state (m/s)
 *
 * @unit m/s
 * @min 2
 * @max 10
 * @decimal 1
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDFW_VELI_MAX, 4.0f);

/**
 * Airspeed max
 *
 * Maximum airspeed allowed in the landed state (m/s)
 *
 * @unit m/s
 * @min 4
 * @max 20
 * @decimal 1
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDFW_AIRSPD_MAX, 8.00f);

/**
 * Total flight time in microseconds
 *
 * Total flight time of this autopilot. Higher 32 bits of the value.
 * Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
 *
 * @min 0
 * @group Land Detector
 *
 */
PARAM_DEFINE_INT32(LND_FLIGHT_T_HI, 0);

/**
 * Total flight time in microseconds
 *
 * Total flight time of this autopilot. Lower 32 bits of the value.
 * Flight time in microseconds = (LND_FLIGHT_T_HI << 32) | LND_FLIGHT_T_LO.
 *
 * @min 0
 * @group Land Detector
 *
 */
PARAM_DEFINE_INT32(LND_FLIGHT_T_LO, 0);

/**
 * Maximum altitude that can be reached prior to subconditions
 *
 * @unit m/s
 * @min 10
 * @max 150
 * @decimal 2
 * @group Land Detector
 *
 */
PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, 100.0f);