/****************************************************************************
 *
 *   Copyright (c) 2014-2017 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.
 *
 ****************************************************************************/

/**
 * @author Pavel Kirienko <pavel.kirienko@gmail.com>
 */

/**
 * UAVCAN mode
 *
 *  0 - UAVCAN disabled.
 *  1 - Enables support for UAVCAN sensors without dynamic node ID allocation and firmware update.
 *  2 - Enables support for UAVCAN sensors with dynamic node ID allocation and firmware update.
 *  3 - Enables support for UAVCAN sensors and actuators with dynamic node ID allocation and firmware update. Also sets the motor control outputs to UAVCAN.
 *
 * @min 0
 * @max 3
 * @value 0 Disabled
 * @value 1 Sensors Manual Config
 * @value 2 Sensors Automatic Config
 * @value 3 Sensors and Actuators (ESCs) Automatic Config
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_ENABLE, 0);

/**
 * UAVCAN Node ID.
 *
 * Read the specs at http://uavcan.org to learn more about Node ID.
 *
 * @min 1
 * @max 125
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);

/**
 * UAVCAN CAN bus bitrate.
 *
 * @unit bit/s
 * @min 20000
 * @max 1000000
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);

/**
 * UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints.
 *
 * @boolean
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_ESC_IDLT, 1);

/**
 * UAVCAN rangefinder minimum range
 *
 * This parameter defines the minimum valid range for a rangefinder connected via UAVCAN.
 *
 * @unit m
 * @group UAVCAN
 */
PARAM_DEFINE_FLOAT(UAVCAN_RNG_MIN, 0.3f);

/**
 * UAVCAN rangefinder maximum range
 *
 * This parameter defines the maximum valid range for a rangefinder connected via UAVCAN.
 *
 * @unit m
 * @group UAVCAN
 */
PARAM_DEFINE_FLOAT(UAVCAN_RNG_MAX, 200.0f);

/**
 * UAVCAN ANTI_COLLISION light operating mode
 *
 * This parameter defines the minimum condition under which the system will command
 * the ANTI_COLLISION lights on
 *
 *  0 - Always off
 *  1 - When autopilot is armed
 *  2 - When autopilot is prearmed
 *  3 - Always on
 *
 * @min 0
 * @max 3
 * @value 0 Always off
 * @value 1 When autopilot is armed
 * @value 2 When autopilot is prearmed
 * @value 3 Always on
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_LGT_ANTCL, 2);

/**
 * UAVCAN STROBE light operating mode
 *
 * This parameter defines the minimum condition under which the system will command
 * the STROBE lights on
 *
 *  0 - Always off
 *  1 - When autopilot is armed
 *  2 - When autopilot is prearmed
 *  3 - Always on
 *
 * @min 0
 * @max 3
 * @value 0 Always off
 * @value 1 When autopilot is armed
 * @value 2 When autopilot is prearmed
 * @value 3 Always on
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_LGT_STROB, 1);

/**
 * UAVCAN RIGHT_OF_WAY light operating mode
 *
 * This parameter defines the minimum condition under which the system will command
 * the RIGHT_OF_WAY lights on
 *
 *  0 - Always off
 *  1 - When autopilot is armed
 *  2 - When autopilot is prearmed
 *  3 - Always on
 *
 * @min 0
 * @max 3
 * @value 0 Always off
 * @value 1 When autopilot is armed
 * @value 2 When autopilot is prearmed
 * @value 3 Always on
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_LGT_NAV, 3);

/**
 * UAVCAN LIGHT_ID_LANDING light operating mode
 *
 * This parameter defines the minimum condition under which the system will command
 * the LIGHT_ID_LANDING lights on
 *
 *  0 - Always off
 *  1 - When autopilot is armed
 *  2 - When autopilot is prearmed
 *  3 - Always on
 *
 * @min 0
 * @max 3
 * @value 0 Always off
 * @value 1 When autopilot is armed
 * @value 2 When autopilot is prearmed
 * @value 3 Always on
 * @reboot_required true
 * @group UAVCAN
 */
PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);