/****************************************************************************
 *
 *   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
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 * 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.
 *
 ****************************************************************************/

/**
 * Multicopter land detection trigger time
 *
 * Total time it takes to go through all three land detection stages:
 * ground contact, maybe landed, landed
 * when all necessary conditions are constantly met.
 *
 * @unit s
 * @min 0.1
 * @max 10.0
 * @decimal 1
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_TRIG_TIME, 1.0f);

/**
 * Multicopter max climb rate
 *
 * Maximum vertical velocity allowed in the landed state
 *
 * @unit m/s
 * @decimal 1
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_Z_VEL_MAX, 0.50f);

/**
 * Multicopter max horizontal velocity
 *
 * Maximum horizontal velocity allowed in the landed state
 *
 * @unit m/s
 * @decimal 1
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_XY_VEL_MAX, 1.5f);

/**
 * Multicopter max rotation
 *
 * Maximum allowed angular velocity around each axis allowed in the landed state.
 *
 * @unit deg/s
 * @decimal 1
 *
 * @group Land Detector
 */
PARAM_DEFINE_FLOAT(LNDMC_ROT_MAX, 20.0f);

/**
 * Maximum altitude for multicopters
 *
 * The system will obey this limit as a
 * hard altitude limit. This setting will
 * be consolidated with the GF_MAX_VER_DIST
 * parameter.
 * A negative value indicates no altitude limitation.
 *
 * @unit m
 * @min -1
 * @max 10000
 * @decimal 2
 * @group Land Detector
 *
 */
PARAM_DEFINE_FLOAT(LNDMC_ALT_MAX, -1.0f);

/**
 * Ground effect altitude for multicopters
 *
 * The height above ground below which ground effect creates barometric altitude errors.
 * A negative value indicates no ground effect.
 *
 * @unit m
 * @min -1
 * @decimal 2
 * @group Land Detector
 *
 */
PARAM_DEFINE_FLOAT(LNDMC_ALT_GND, -1.0f);