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/**
 * @file precland_params.c
 *
 * Parameters for precision landing.
 *
 * @author Nicolas de Palezieux (Sunflower Labs) <ndepal@gmail.com>
 */

/**
 * Landing Target Timeout
 *
 * Time after which the landing target is considered lost without any new measurements.
 *
 * @unit s
 * @min 0.0
 * @max 50
 * @decimal 1
 * @increment 0.5
 * @group Precision Land
 */
PARAM_DEFINE_FLOAT(PLD_BTOUT, 5.0f);

/**
 * Horizontal acceptance radius
 *
 * Start descending if closer above landing target than this.
 *
 * @unit m
 * @min 0.0
 * @max 10
 * @decimal 2
 * @increment 0.1
 * @group Precision Land
 */
PARAM_DEFINE_FLOAT(PLD_HACC_RAD, 0.2f);

/**
 * Final approach altitude
 *
 * Allow final approach (without horizontal positioning) if losing landing target closer than this to the ground.
 *
 * @unit m
 * @min 0.0
 * @max 10
 * @decimal 2
 * @increment 0.1
 * @group Precision Land
 */
PARAM_DEFINE_FLOAT(PLD_FAPPR_ALT, 0.1f);

/**
 * Search altitude
 *
 * Altitude above home to which to climb when searching for the landing target.
 *
 * @unit m
 * @min 0.0
 * @max 100
 * @decimal 1
 * @increment 0.1
 * @group Precision Land
 */
PARAM_DEFINE_FLOAT(PLD_SRCH_ALT, 10.0f);

/**
 * Search timeout
 *
 * Time allowed to search for the landing target before falling back to normal landing.
 *
 * @unit s
 * @min 0.0
 * @max 100
 * @decimal 1
 * @increment 0.1
 * @group Precision Land
 */
PARAM_DEFINE_FLOAT(PLD_SRCH_TOUT, 10.0f);

/**
 * Maximum number of search attempts
 *
 * Maximum number of times to seach for the landing target if it is lost during the precision landing.
 *
 * @min 0
 * @max 100
 * @group Precision Land
 */
PARAM_DEFINE_INT32(PLD_MAX_SRCH, 3);
