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 *
 *   Copyright (c) 2013-2017 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
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 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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 ****************************************************************************/

/*
 * @file system_params.c
 *
 * System wide parameters
 */

/**
 * Auto-start script index.
 *
 * CHANGING THIS VALUE REQUIRES A RESTART. Defines the auto-start script used to bootstrap the system.
 *
 * @reboot_required true
 * @min 0
 * @max 9999999
 * @group System
 */
PARAM_DEFINE_INT32(SYS_AUTOSTART, 0);

/**
 * Automatically configure default values.
 *
 * Set to 1 to reset parameters on next system startup (setting defaults).
 * Platform-specific values are used if available.
 * RC* parameters are preserved.
 *
 * @value 0 Keep parameters
 * @value 1 Reset parameters to airframe defaults
 * @group System
 */
PARAM_DEFINE_INT32(SYS_AUTOCONFIG, 0);

/**
 * Enable HITL/SIH mode on next boot
 *
 * While enabled the system will boot in Hardware-In-The-Loop (HITL)
 * or Simulation-In-Hardware (SIH) mode and not enable all sensors and checks.
 * When disabled the same vehicle can be flown normally.
 *
 * Set to 'external HITL', if the system should perform as if it were a real
 * vehicle (the only difference to a real system is then only the parameter
 * value, which can be used for log analysis).
 *
 * @value -1 external HITL
 * @value 0 HITL and SIH disabled
 * @value 1 HITL enabled
 * @value 2 SIH enabled
 * @reboot_required true
 *
 * @group System
 */
PARAM_DEFINE_INT32(SYS_HITL, 0);

/**
 * Set restart type
 *
 * Set by px4io to indicate type of restart
 *
 * @min 0
 * @max 2
 * @value 0 Data survives resets
 * @value 1 Data survives in-flight resets only
 * @value 2 Data does not survive reset
 * @category system
 * @volatile
 * @group System
 */
PARAM_DEFINE_INT32(SYS_RESTART_TYPE, 2);

/**
 * Set multicopter estimator group
 *
 * Set the group of estimators used for multicopters and VTOLs
 *
 * @value 1 local_position_estimator, attitude_estimator_q (unsupported)
 * @value 2 ekf2 (recommended)
 * @value 3 Q attitude estimator (no position)
 *
 * @reboot_required true
 * @group System
 */
PARAM_DEFINE_INT32(SYS_MC_EST_GROUP, 2);

/**
 * Enable auto start of rate gyro thermal calibration at the next power up.
 *
 * 0 : Set to 0 to do nothing
 * 1 : Set to 1 to start a calibration at next boot
 * This parameter is reset to zero when the temperature calibration starts.
 *
 * default (0, no calibration)
 *
 * @group System
 * @min 0
 * @max 1
 */
PARAM_DEFINE_INT32(SYS_CAL_GYRO, 0);

/**
 * Enable auto start of accelerometer thermal calibration at the next power up.
 *
 * 0 : Set to 0 to do nothing
 * 1 : Set to 1 to start a calibration at next boot
 * This parameter is reset to zero when the temperature calibration starts.
 *
 * default (0, no calibration)
 *
 * @group System
 * @min 0
 * @max 1
 */
PARAM_DEFINE_INT32(SYS_CAL_ACCEL, 0);

/**
 * Enable auto start of barometer thermal calibration at the next power up.
 *
 * 0 : Set to 0 to do nothing
 * 1 : Set to 1 to start a calibration at next boot
 * This parameter is reset to zero when the temperature calibration starts.
 *
 * default (0, no calibration)
 *
 * @group System
 * @min 0
 * @max 1
 */
PARAM_DEFINE_INT32(SYS_CAL_BARO, 0);

/**
 * Required temperature rise during thermal calibration
 *
 * A temperature increase greater than this value is required during calibration.
 * Calibration will complete for each sensor when the temperature increase above the starting temeprature exceeds the value set by SYS_CAL_TDEL.
 * If the temperature rise is insufficient, the calibration will continue indefinitely and the board will need to be repowered to exit.
 *
 * @unit celcius
 * @min 10
 * @group System
 */
PARAM_DEFINE_INT32(SYS_CAL_TDEL, 24);

/**
 * Minimum starting temperature for thermal calibration
 *
 * Temperature calibration for each sensor will ignore data if the temperature is lower than the value set by SYS_CAL_TMIN.
 *
 * @unit celcius
 * @group System
 */
PARAM_DEFINE_INT32(SYS_CAL_TMIN, 5);

/**
 * Maximum starting temperature for thermal calibration
 *
 * Temperature calibration will not start if the temperature of any sensor is higher than the value set by SYS_CAL_TMAX.
 *
 * @unit celcius
 * @group System
 */
PARAM_DEFINE_INT32(SYS_CAL_TMAX, 10);

/**
 * Control if the vehicle has a magnetometer
 *
 * Disable this if the board has no magnetometer, such as the Omnibus F4 SD.
 * If disabled, the preflight checks will not check for the presence of a
 * magnetometer.
 *
 * @boolean
 * @reboot_required true
 *
 * @group System
 */
PARAM_DEFINE_INT32(SYS_HAS_MAG, 1);

/**
 * Control if the vehicle has a barometer
 *
 * Disable this if the board has no barometer, such as some of the Omnibus
 * F4 SD variants.
 * If disabled, the preflight checks will not check for the presence of a
 * barometer.
 *
 * @boolean
 * @reboot_required true
 *
 * @group System
 */
PARAM_DEFINE_INT32(SYS_HAS_BARO, 1);

/**
 * Enable factory calibration mode
 *
 * If enabled, future sensor calibrations will be stored to /fs/mtd_caldata.
 *
 * Note: this is only supported on boards with a separate calibration storage
 * /fs/mtd_caldata.
 *
 * @boolean
 * @group System
 */
PARAM_DEFINE_INT32(SYS_FAC_CAL_MODE, 0);

/**
 * Bootloader update
 *
 * If enabled, update the bootloader on the next boot.
 *
 * WARNING: do not cut the power during an update process, otherwise you will
 * have to recover using some alternative method (e.g. JTAG).
 *
 * Instructions:
 * - Insert an SD card
 * - Enable this parameter
 * - Reboot the board (plug the power or send a reboot command)
 * - Wait until the board comes back up (or at least 2 minutes)
 * - If it does not come back, check the file bootlog.txt on the SD card
 *
 * @boolean
 * @reboot_required true
 *
 * @group System
 */
PARAM_DEFINE_INT32(SYS_BL_UPDATE, 0);

/**
 * Enable failure injection
 *
 * If enabled allows MAVLink INJECT_FAILURE commands.
 *
 * WARNING: the failures can easily cause crashes and are to be used with caution!
 *
 * @boolean
 *
 * @group System
 */
PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);