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

updated rtl parameter descriptions. 

Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst 2019-07-12 13:43:39 +02:00 committed by Roman Bapst
parent 2930b55732
commit b1a9d4b4c7
1 changed files with 9 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
src/modules/navigator/rtl_params.c
View File

@ -44,9 +44,10 @@
*/
/**
* RTL altitude
* Return to home relative altitude.
*
* Altitude to fly back in RTL in meters
* Relative altitude above home at which the vehicle will return during RTL mode.
* This is affected by RTL_MIN_DIST and RTL_CONE_ANG.
*
* @unit m
* @min 0
@ -59,7 +60,7 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
/**
* Return mode loiter altitude
* Return to home relative loiter altitude.
*
* Stay at this altitude above home position after RTL descending.
* Land (i.e. slowly descend) from this altitude if autolanding allowed.
@ -89,11 +90,11 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
/**
* Minimum distance to trigger rising to a safe altitude
* Maximum horizontal distance to home position below which vehicle will use
* RTL_DESCEND_ALT as return altitude.
*
* If the system is horizontally closer than this distance to home
* it will land straight on home instead of raising to the return
* altitude first.
* it will only ascend to RTL_DESCEND_ALT before moving horizontally to the home position.
*
* @unit m
* @min 0.5
@ -120,7 +121,8 @@ PARAM_DEFINE_INT32(RTL_TYPE, 0);
/**
* Half-angle of the RTL cone.
*
* Defines the half-angle of the cone which defines the vehicle RTL behavior.
* Defines the half-angle of a cone centered around the home position which
* affects the altitude at which the vehicle returns during RTL.
*
* @unit degrees
* @min 0