navigator_params.c
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/****************************************************************************
*
* Copyright (c) 2014-2016 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* AS IS AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file navigator_params.c
*
* Parameters for navigator in general
*
* @author Julian Oes <julian@px4.io>
* @author Thomas Gubler <thomas@px4.io>
*/
/**
* Loiter radius (FW only)
*
* Default value of loiter radius for missions, Hold mode, Return mode, etc. (fixedwing only).
*
* @unit m
* @min 25
* @max 1000
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_LOITER_RAD, 50.0f);
/**
* Acceptance Radius
*
* Default acceptance radius, overridden by acceptance radius of waypoint if set.
* For fixed wing the L1 turning distance is used for horizontal acceptance.
*
* @unit m
* @min 0.05
* @max 200.0
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_ACC_RAD, 10.0f);
/**
* FW Altitude Acceptance Radius
*
* Acceptance radius for fixedwing altitude.
*
* @unit m
* @min 0.05
* @max 200.0
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_FW_ALT_RAD, 10.0f);
/**
* FW Altitude Acceptance Radius before a landing
*
* Altitude acceptance used for the last waypoint before a fixed-wing landing. This is usually smaller
* than the standard vertical acceptance because close to the ground higher accuracy is required.
*
* @unit m
* @min 0.05
* @max 200.0
* @decimal 1
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_FW_ALTL_RAD, 5.0f);
/**
* MC Altitude Acceptance Radius
*
* Acceptance radius for multicopter altitude.
*
* @unit m
* @min 0.05
* @max 200.0
* @decimal 1
* @increment 0.5
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_MC_ALT_RAD, 0.8f);
/**
* Set traffic avoidance mode
*
* Enabling this will allow the system to respond
* to transponder data from e.g. ADSB transponders
*
* @value 0 Disabled
* @value 1 Warn only
* @value 2 Return mode
* @value 3 Land mode
* @value 4 Position Hold mode
*
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_TRAFF_AVOID, 1);
/**
* Set NAV TRAFFIC AVOID RADIUS MANNED
*
* Defines the Radius where NAV TRAFFIC AVOID is Called
* For Manned Aviation
*
* @unit m
* @min 500
*
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_TRAFF_A_RADM, 500);
/**
* Set NAV TRAFFIC AVOID RADIUS
*
* Defines the Radius where NAV TRAFFIC AVOID is Called
* For Unmanned Aviation
*
* @unit m
* @min 10
* @max 500
*
* @group Mission
*/
PARAM_DEFINE_FLOAT(NAV_TRAFF_A_RADU, 10);
/**
* Airfield home Lat
*
* Latitude of airfield home waypoint
*
* @unit deg*1e7
* @min -900000000
* @max 900000000
* @group Data Link Loss
*/
PARAM_DEFINE_INT32(NAV_AH_LAT, -265847810);
/**
* Airfield home Lon
*
* Longitude of airfield home waypoint
*
* @unit deg*1e7
* @min -1800000000
* @max 1800000000
* @group Data Link Loss
*/
PARAM_DEFINE_INT32(NAV_AH_LON, 1518423250);
/**
* Airfield home alt
*
* Altitude of airfield home waypoint
*
* @unit m
* @min -50
* @decimal 1
* @increment 0.5
* @group Data Link Loss
*/
PARAM_DEFINE_FLOAT(NAV_AH_ALT, 600.0f);
/**
* Force VTOL mode takeoff and land
*
* @boolean
* @group Mission
*/
PARAM_DEFINE_INT32(NAV_FORCE_VT, 1);