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122 lines
3.3 KiB
C
122 lines
3.3 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2017 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 precland_params.c
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*
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* Parameters for precision landing.
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*
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* @author Nicolas de Palezieux (Sunflower Labs) <ndepal@gmail.com>
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*/
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/**
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* Landing Target Timeout
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*
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* Time after which the landing target is considered lost without any new measurements.
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*
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* @unit s
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* @min 0.0
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* @max 50
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* @decimal 1
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* @increment 0.5
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* @group Precision Land
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*/
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PARAM_DEFINE_FLOAT(PLD_BTOUT, 5.0f);
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/**
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* Horizontal acceptance radius
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*
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* Start descending if closer above landing target than this.
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*
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* @unit m
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* @min 0.0
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* @max 10
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* @decimal 2
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* @increment 0.1
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* @group Precision Land
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*/
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PARAM_DEFINE_FLOAT(PLD_HACC_RAD, 0.2f);
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/**
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* Final approach altitude
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*
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* Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.
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*
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* @unit m
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* @min 0.0
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* @max 10
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* @decimal 2
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* @increment 0.1
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* @group Precision Land
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*/
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PARAM_DEFINE_FLOAT(PLD_FAPPR_ALT, 0.1f);
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/**
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* Search altitude
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*
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* Altitude above home to which to climb when searching for the landing target.
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*
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* @unit m
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* @min 0.0
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* @max 100
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* @decimal 1
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* @increment 0.1
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* @group Precision Land
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*/
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PARAM_DEFINE_FLOAT(PLD_SRCH_ALT, 10.0f);
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/**
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* Search timeout
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*
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* Time allowed to search for the landing target before falling back to normal landing.
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*
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* @unit s
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* @min 0.0
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* @max 100
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* @decimal 1
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* @increment 0.1
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* @group Precision Land
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*/
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PARAM_DEFINE_FLOAT(PLD_SRCH_TOUT, 10.0f);
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/**
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* Maximum number of search attempts
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*
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* Maximum number of times to search for the landing target if it is lost during the precision landing.
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*
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* @min 0
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* @max 100
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* @group Precision Land
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*/
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PARAM_DEFINE_INT32(PLD_MAX_SRCH, 3);
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