mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-08 23:30:34 +08:00
Daniel Agar
103 lines
3.2 KiB
C
103 lines
3.2 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 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 launchdetection_params.c
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*
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* Parameters for launchdetection
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*
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* @author Thomas Gubler <thomasgubler@gmail.com>
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*/
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/*
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* Catapult launch detection parameters, accessible via MAVLink
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*
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*/
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/**
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* Enable launch detection.
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*
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* @boolean
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* @min 0
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* @max 1
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* @group Launch detection
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*/
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PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);
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/**
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* Catapult accelerometer threshold.
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*
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* LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.
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*
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* @unit m/s/s
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* @min 0
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* @group Launch detection
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*/
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PARAM_DEFINE_FLOAT(LAUN_CAT_A, 30.0f);
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/**
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* Catapult time threshold.
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*
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* LAUN_CAT_A for LAUN_CAT_T serves as threshold to trigger launch detection.
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*
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* @unit s
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* @min 0
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* @group Launch detection
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*/
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PARAM_DEFINE_FLOAT(LAUN_CAT_T, 0.05f);
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/**
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* Motor delay
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*
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* Delay between starting attitude control and powering up the throttle (giving throttle control to the controller)
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* Before this timespan is up the throttle will be set to FW_THR_IDLE, set to 0 to deactivate
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*
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* @unit s
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* @min 0
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* @group Launch detection
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*/
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PARAM_DEFINE_FLOAT(LAUN_CAT_MDEL, 0.0f);
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/**
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* Maximum pitch before the throttle is powered up (during motor delay phase)
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*
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* This is an extra limit for the maximum pitch which is imposed in the phase before the throttle turns on.
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* This allows to limit the maximum pitch angle during a bungee launch (make the launch less steep).
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*
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* @unit deg
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* @min 0
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* @max 45
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* @group Launch detection
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*/
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PARAM_DEFINE_FLOAT(LAUN_CAT_PMAX, 30.0f);
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