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/**
 * @file collisionprevention_params.c
 *
 * Parameters defined by the collisionprevention lib.
 *
 * @author Tanja Baumann <tanja@auterion.com>
 */

/**
 * Minimum distance the vehicle should keep to all obstacles
 *
 * Only used in Position mode. Collision avoidace is disabled by setting this parameter to a negative value
 *
 * @min -1
 * @max 15
 * @unit meters
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_COL_PREV_D, -1.0f);

/**
 * Average delay of the range sensor message in seconds
 *
 * Only used in Position mode.
 *
 * @min 0
 * @max 1
 * @unit seconds
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_COL_PREV_DLY, 0.f);

/**
 * Angle left/right from the commanded setpoint in which the range data is used to calculate speed limitations. All data further from the commanded direction is not considered.
 *
 * Only used in Position mode.
 *
 * @min 0
 * @max 90
 * @unit [deg]
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_COL_PREV_ANG, 45.f);
