dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

mission param @unit

This commit is contained in:
Daniel Agar 2016-03-13 15:20:42 -04:00 committed by Lorenz Meier
parent e22e0b28b6
commit 2fbf607341
1 changed files with 24 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

35
src/modules/navigator/mission_params.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2014-2015 PX4 Development Team. All rights reserved.
* 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
@ -36,7 +36,7 @@
*
* Parameters for mission.
*
* @author Julian Oes <joes@student.ethz.ch>
* @author Julian Oes <julian@oes.ch>
*/
/*
@ -46,22 +46,21 @@
/**
* Take-off altitude
*
* Even if first waypoint has altitude less then MIS_TAKEOFF_ALT above home position, system will climb to
* MIS_TAKEOFF_ALT on takeoff, then go to waypoint.
* This is the minimum altitude the system will take off to.
*
* @unit meters
* @unit m
* @min 0
* @max 80
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 1.2f);
PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 1.8f);
/**
* Minimum Loiter altitude
*
* This is the minimum altitude the system will always obey. The intent is to stay out of ground effect.
*
* @unit meters
* @unit m
* @min 0
* @max 80
* @group Mission
@ -74,10 +73,7 @@ PARAM_DEFINE_FLOAT(MIS_LTRMIN_ALT, 1.2f);
* When enabled, missions that have been uploaded by the GCS are stored
* and reloaded after reboot persistently.
*
* @min 0
* @max 1
* @value 0 Disabled
* @value 1 Enabled
* @unit boolean
* @group Mission
*/
PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
@ -89,6 +85,7 @@ PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
* Set a value of zero or less to disable. The mission will not be started if the current
* waypoint is more distant than MIS_DIS_1WP from the current position.
*
* @unit m
* @min 0
* @max 1000
* @group Mission
@ -102,10 +99,16 @@ PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 900);
* 1: the system will follow a first order hold altitude setpoint
* values follow the definition in enum mission_altitude_mode
*
* @unit enum
* @min 0
* @max 1
<<<<<<< e22e0b28b61a7b4f7d10756678b8f4b533b3622e
* @value 0 Zero Order Hold
* @value 1 First Order Hold
=======
* @value 0 zero order
* @value 1 first order
>>>>>>> mission param @unit
* @group Mission
*/
PARAM_DEFINE_INT32(MIS_ALTMODE, 1);
@ -115,12 +118,20 @@ PARAM_DEFINE_INT32(MIS_ALTMODE, 1);
*
* The values are defined in the enum mission_altitude_mode
*
* @unit enum
* @min 0
* @max 3
<<<<<<< e22e0b28b61a7b4f7d10756678b8f4b533b3622e
* @value 0 Heading as set by waypoint
* @value 1 Heading towards waypoint
* @value 2 Heading towards home
* @value 3 Heading away from home
=======
* @value 0 destination
* @value 1 next
* @value 2 home
* @value 3 home back
>>>>>>> mission param @unit
* @group Mission
*/
PARAM_DEFINE_INT32(MIS_YAWMODE, 1);
@ -133,6 +144,7 @@ PARAM_DEFINE_INT32(MIS_YAWMODE, 1);
* Mainly useful for VTOLs that have less yaw authority and might not reach target
* yaw in wind. Disabled by default.
*
* @unit
* @min -1
* @max 20
* @unit second
@ -144,6 +156,7 @@ PARAM_DEFINE_FLOAT(MIS_YAW_TMT, -1.0f);
/**
* Max yaw error in degree needed for waypoint heading acceptance.
*
* @unit deg
* @min 0
* @max 90
* @unit degree