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