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 *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
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 * modification, are permitted provided that the following conditions
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 *
 * 1. Redistributions of source code must retain the above copyright
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 * 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.
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 *    used to endorse or promote products derived from this software
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 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/**
 * @file standard_params.c
 * Parameters for the standard VTOL controller.
 *
 * @author Simon Wilks	<simon@uaventure.com>
 * @author Roman Bapst	<roman@px4.io>
 */


/**
 * Maximum allowed down-pitch the controller is able to demand. This prevents large, negative
 * lift values being created when facing strong winds. The vehicle will use the pusher motor
 * to accelerate forward if necessary.
 *
 * @min 0.0
 * @max 45.0
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_DWN_PITCH_MAX, 5.0f);

/**
 * Fixed wing thrust scale for hover forward flight.
 *
 * Scale applied to fixed wing thrust being used as source for forward acceleration in multirotor mode.
 * This technique can be used to avoid the plane having to pitch down a lot in order to move forward.
 * Setting this value to 0 (default) will disable this strategy.
 * @min 0.0
 * @max 2.0
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_FWD_THRUST_SC, 0.0f);

/**
 * Back transition MC motor ramp up time
 *
 * This sets the duration during wich the MC motors ramp up to the commanded thrust during the back transition stage.
 *
 * @unit s
 * @min 0.0
 * @max 20.0
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_B_TRANS_RAMP, 3.0f);

/**
 * Output on airbrakes channel during back transition
 * Used for airbrakes or with ESCs that have reverse thrust enabled on a seperate channel
 * Airbrakes need to be enables for your selected model/mixer
 *
 * @min 0
 * @max 1
 * @increment 0.01
 * @decimal 2
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_B_REV_OUT, 0.0f);


/**
 * Delay in seconds before applying back transition throttle
 * Set this to a value greater than 0 to give the motor time to spin down.
 *
 * unit s
 * @min 0
 * @max 10
 * @increment 1
 * @decimal 2
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_B_REV_DEL, 0.0f);

/**
 * Defines the time window during which the pusher throttle will be ramped up linearly to VT_F_TRANS_THR during a transition
 * to fixed wing mode. Zero or negative values will produce an instant throttle rise to VT_F_TRANS_THR.
 *
 * @max 20
 * @increment 0.01
 * @decimal 2
 * @group VTOL Attitude Control
 */
PARAM_DEFINE_FLOAT(VT_PSHER_RMP_DT, 3.0f);
