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/**
 * @file motor_params.c
 *
 * Parameters for motors.
 *
 */


/**
 * Minimum motor rise time (slew rate limit).
 *
 * Minimum time allowed for the motor input signal to pass through
 * a range of 1000 PWM units. A value x means that the motor signal
 * can only go from 1000 to 2000 PWM in maximum x seconds.
 *
 * Zero means that slew rate limiting is disabled.
 *
 * @min 0.0
 * @unit s/(1000*PWM)
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(MOT_SLEW_MAX, 0.0f);

/**
 * Thrust to motor control signal model parameter
 *
 * Parameter used to model the nonlinear relationship between
 * motor control signal (e.g. PWM) and static thrust.
 *
 * The model is: rel_thrust = factor * rel_signal^2 + (1-factor) * rel_signal,
 * where rel_thrust is the normalized thrust between 0 and 1, and
 * rel_signal is the relative motor control signal between 0 and 1.
 *
 * @min 0.0
 * @max 1.0
 * @group PWM Outputs
 */
PARAM_DEFINE_FLOAT(THR_MDL_FAC, 0.0f);