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RTL Params - relative to destination not home

This commit is contained in:
Hamish Willee 2019-10-29 08:11:50 +11:00 committed by Matthias Grob
parent 07eb3d301b
commit 24e3dc6a76
1 changed files with 11 additions and 11 deletions
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22
src/modules/navigator/rtl_params.c
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@ -46,7 +46,7 @@
/**
* Return mode return altitude
*
* Default minimum altitude above home for return flight.
* Default minimum altitude above destination (e.g. home, safe point, landing pattern) for return flight.
* This is affected by RTL_MIN_DIST and RTL_CONE_ANG.
*
* @unit m
@ -60,9 +60,9 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
/**
* Return mode loiter altitude (relative to home)
* Return mode loiter altitude
*
* Descend to this altitude (above home position) after return, and wait for time defined in RTL_LAND_DELAY.
* Descend to this altitude (above destination position) after return, and wait for time defined in RTL_LAND_DELAY.
* Land (i.e. slowly descend) from this altitude if autolanding allowed.
*
* @unit m
@ -90,9 +90,9 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
/**
* Maximum horizontal distance from home, below which RTL_DESCEND_ALT is used as return altitude
* Maximum horizontal distance from return destination, below which RTL_DESCEND_ALT is used as return altitude
*
* If the vehicle is less than this horizontal distance from home when return mode is activated it will ascend
* If the vehicle is less than this horizontal distance from the return destination when return mode is activated it will ascend
* to RTL_DESCEND_ALT for the return journey (rather than the altitude set by RTL_RETURN_ALT and RTL_CONE_ANG).
*
* @unit m
@ -107,13 +107,13 @@ PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 5.0f);
/**
* Return type
*
* Fly straight to the home location or planned mission landing and land there or
* Fly straight to the return location or planned mission landing and land there or
* use the planned mission to get to those points.
*
* @value 0 Return home via direct path
* @value 1 Return to a planned mission landing, if available, via direct path, else return to home via direct path
* @value 2 Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path
* @value 3 Return via direct way to whatever is closest: home, mission lading or safe point
* @value 3 Return via direct path to closest destination: home, mission landing pattern or safe point
* @group Return Mode
*/
PARAM_DEFINE_INT32(RTL_TYPE, 0);
@ -121,18 +121,18 @@ PARAM_DEFINE_INT32(RTL_TYPE, 0);
/**
* Half-angle of the return mode altitude cone
*
* Defines the half-angle of a cone centered around the home position that
* affects the altitude at which the vehicle returns during return to home.
* Defines the half-angle of a cone centered around the destination position that
* affects the altitude at which the vehicle returns.
*
* @unit degrees
* @min 0
* @max 90
* @value 0 No cone, always climb to RTL_RETURN_ALT above home.
* @value 0 No cone, always climb to RTL_RETURN_ALT above destination.
* @value 25 25 degrees half cone angle.
* @value 45 45 degrees half cone angle.
* @value 65 65 degrees half cone angle.
* @value 80 80 degrees half cone angle.
* @value 90 Only climb to at least RTL_DESCEND_ALT above home.
* @value 90 Only climb to at least RTL_DESCEND_ALT above destination.
* @group Return Mode
*/
PARAM_DEFINE_INT32(RTL_CONE_ANG, 0);