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159 lines
4.4 KiB
C
159 lines
4.4 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 mission_params.c
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*
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* Parameters for mission.
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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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* Mission parameters, accessible via MAVLink
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*/
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/**
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* Take-off altitude
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*
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* This is the minimum altitude the system will take off to.
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*
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* @unit m
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* @min 0
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* @max 80
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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(MIS_TAKEOFF_ALT, 10.0f);
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/**
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* Minimum Loiter altitude
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*
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* This is the minimum altitude the system will always obey. The intent is to stay out of ground effect.
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*
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* @unit m
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* @min 0
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* @max 80
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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(MIS_LTRMIN_ALT, 1.2f);
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/**
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* Persistent onboard mission storage
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*
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* When enabled, missions that have been uploaded by the GCS are stored
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* and reloaded after reboot persistently.
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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(MIS_ONBOARD_EN, 1);
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/**
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* Maximal horizontal distance from home to first waypoint
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*
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* Failsafe check to prevent running mission stored from previous flight at a new takeoff location.
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* Set a value of zero or less to disable. The mission will not be started if the current
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* waypoint is more distant than MIS_DIS_1WP from the current position.
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*
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* @unit m
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* @min 0
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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(MIS_DIST_1WP, 900);
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/**
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* Altitude setpoint mode
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*
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* 0: the system will follow a zero order hold altitude setpoint
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* 1: the system will follow a first order hold altitude setpoint
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* values follow the definition in enum mission_altitude_mode
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*
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* @min 0
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* @max 1
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* @value 0 Zero Order Hold
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* @value 1 First Order Hold
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* @group Mission
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*/
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PARAM_DEFINE_INT32(MIS_ALTMODE, 1);
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/**
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* Multirotor only. Yaw setpoint mode.
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*
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* The values are defined in the enum mission_altitude_mode
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*
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* @min 0
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* @max 3
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* @value 0 Heading as set by waypoint
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* @value 1 Heading towards waypoint
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* @value 2 Heading towards home
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* @value 3 Heading away from home
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* @group Mission
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*/
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PARAM_DEFINE_INT32(MIS_YAWMODE, 1);
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/**
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* Time in seconds we wait on reaching target heading at a waypoint if it is forced.
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*
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* If set > 0 it will ignore the target heading for normal waypoint acceptance. If the
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* waypoint forces the heading the timeout will matter. For example on VTOL forwards transiton.
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* Mainly useful for VTOLs that have less yaw authority and might not reach target
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* yaw in wind. Disabled by default.
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*
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* @unit s
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* @min -1
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* @max 20
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* @decimal 1
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* @increment 1
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(MIS_YAW_TMT, -1.0f);
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/**
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* Max yaw error in degrees needed for waypoint heading acceptance.
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*
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* @unit deg
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* @min 0
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* @max 90
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* @decimal 1
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* @increment 1
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* @group Mission
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*/
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PARAM_DEFINE_FLOAT(MIS_YAW_ERR, 12.0f);
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