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/**
 * @file mission_params.c
 *
 * Parameters for mission.
 *
 * @author Julian Oes <julian@oes.ch>
 */

/*
 * Mission parameters, accessible via MAVLink
 */

/**
 * Take-off altitude
 *
 * This is the minimum altitude the system will take off to.
 *
 * @unit m
 * @min 0
 * @max 80
 * @decimal 1
 * @increment 0.5
 * @group Mission
 */
PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f);

/**
 * Minimum Loiter altitude
 *
 * This is the minimum altitude the system will always obey. The intent is to stay out of ground effect.
 * set to -1, if there shouldn't be a minimum loiter altitude
 *
 * @unit m
 * @min -1
 * @max 80
 * @decimal 1
 * @increment 0.5
 * @group Mission
 */
PARAM_DEFINE_FLOAT(MIS_LTRMIN_ALT, -1.0f);

/**
 * Maximal horizontal distance from home to first waypoint
 *
 * Failsafe check to prevent running mission stored from previous flight at a new takeoff location.
 * 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 home position.
 *
 * @unit m
 * @min 0
 * @max 10000
 * @decimal 1
 * @increment 100
 * @group Mission
 */
PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 900);

/**
 * Maximal horizontal distance between waypoint
 *
 * Failsafe check to prevent running missions which are way too big.
 * Set a value of zero or less to disable. The mission will not be started if any distance between
 * two subsequent waypoints is greater than MIS_DIST_WPS.
 *
 * @unit m
 * @min 0
 * @max 10000
 * @decimal 1
 * @increment 100
 * @group Mission
 */
PARAM_DEFINE_FLOAT(MIS_DIST_WPS, 900);

/**
 * Altitude setpoint mode
 *
 * 0: the system will follow a zero order hold altitude setpoint
 * 1: the system will follow a first order hold altitude setpoint
 * values follow the definition in enum mission_altitude_mode
 *
 * @min 0
 * @max 1
 * @value 0 Zero Order Hold
 * @value 1 First Order Hold
 * @group Mission
 */
PARAM_DEFINE_INT32(MIS_ALTMODE, 1);

/**
 * Multirotor only. Yaw setpoint mode.
 *
 * The values are defined in the enum mission_altitude_mode
 *
 * @min 0
 * @max 3
 * @value 0 Heading as set by waypoint
 * @value 1 Heading towards waypoint
 * @value 2 Heading towards home
 * @value 3 Heading away from home
 * @group Mission
 */
PARAM_DEFINE_INT32(MIS_YAWMODE, 1);

/**
* Enable yaw control of the mount. (Only affects multicopters and ROI mission items)
*
* If enabled, yaw commands will be sent to the mount and the vehicle will follow its heading mode as specified by MIS_YAWMODE.
* If disabled, the vehicle will yaw towards the ROI.
*
* @value 0 Disable
* @value 1 Enable
* @min 0
* @max 1
* @group Mission
*/
PARAM_DEFINE_INT32(MIS_MNT_YAW_CTL, 0);

/**
 * Time in seconds we wait on reaching target heading at a waypoint if it is forced.
 *
 * If set > 0 it will ignore the target heading for normal waypoint acceptance. If the
 * waypoint forces the heading the timeout will matter. For example on VTOL forwards transition.
 * Mainly useful for VTOLs that have less yaw authority and might not reach target
 * yaw in wind. Disabled by default.
 *
 * @unit s
 * @min -1
 * @max 20
 * @decimal 1
 * @increment 1
 * @group Mission
 */
PARAM_DEFINE_FLOAT(MIS_YAW_TMT, -1.0f);

/**
 * Max yaw error in degrees needed for waypoint heading acceptance.
 *
 * @unit deg
 * @min 0
 * @max 90
 * @decimal 1
 * @increment 1
 * @group Mission
 */
PARAM_DEFINE_FLOAT(MIS_YAW_ERR, 12.0f);
