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Navigator: DDifferentiatee between min loiter alt and min takeoff alt. Reduce both by default

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This commit is contained in:
Lorenz Meier
2016-02-28 20:33:08 +01:00
parent d81d0c21ed
commit cab895004d
2 changed files with 29 additions and 8 deletions
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2
src/modules/navigator/loiter.cpp
View File

@@ -56,7 +56,7 @@
Loiter::Loiter(Navigator *navigator, const char *name) :
MissionBlock(navigator, name),
_param_min_alt(this, "MIS_TAKEOFF_ALT", false)
_param_min_alt(this, "MIS_LTRMIN_ALT", false)
{
/* load initial params */
updateParams();

35
src/modules/navigator/mission_params.c
View File

@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
* Copyright (c) 2014-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -50,9 +50,23 @@
* MIS_TAKEOFF_ALT on takeoff, then go to waypoint.
*
* @unit meters
* @min 0
* @max 80
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f);
PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 1.2f);
/**
* Minimum Loiter altitude
*
* This is the minimum altitude the system will always obey. The intent is to stay out of ground effect.
*
* @unit meters
* @min 0
* @max 80
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_LTRMIN_ALT, 1.2f);
/**
* Enable persistent onboard mission storage
@@ -62,6 +76,8 @@ PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f);
*
* @min 0
* @max 1
* @value 0 Disabled
* @value 1 Enabled
* @group Mission
*/
PARAM_DEFINE_INT32(MIS_ONBOARD_EN, 1);
@@ -88,6 +104,8 @@ PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 900);
*
* @min 0
* @max 1
* @value 0 Zero Order Hold
* @value 1 First Order Hold
* @group Mission
*/
PARAM_DEFINE_INT32(MIS_ALTMODE, 1);
@@ -95,15 +113,14 @@ PARAM_DEFINE_INT32(MIS_ALTMODE, 1);
/**
* Multirotor only. Yaw setpoint mode.
*
* 0: Set the yaw heading to the yaw value specified for the destination waypoint.
* 1: Maintain a yaw heading pointing towards the next waypoint.
* 2: Maintain a yaw heading that always points to the home location.
* 3: Maintain a yaw heading that always points away from the home location (ie: back always faces home).
*
* 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);
@@ -118,6 +135,8 @@ PARAM_DEFINE_INT32(MIS_YAWMODE, 1);
*
* @min -1
* @max 20
* @unit second
* @increment 1
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_YAW_TMT, -1.0f);
@@ -127,6 +146,8 @@ PARAM_DEFINE_FLOAT(MIS_YAW_TMT, -1.0f);
*
* @min 0
* @max 90
* @unit degree
* @increment 1
* @group Mission
*/
PARAM_DEFINE_FLOAT(MIS_YAW_ERR, 12.0f);