multicopter_altitude_mode_params.c

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/**
 * Maximum upwards acceleration in climb rate controlled modes
 *
 * @unit m/s^2
 * @min 2
 * @max 15
 * @decimal 1
 * @increment 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_ACC_UP_MAX, 4.f);

/**
 * Maximum downwards acceleration in climb rate controlled modes
 *
 * @unit m/s^2
 * @min 2
 * @max 15
 * @decimal 1
 * @increment 1
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_ACC_DOWN_MAX, 3.f);

/**
 * Manual yaw rate input filter time constant
 *
 * Not used in Stabilized mode
 * Setting this parameter to 0 disables the filter
 *
 * @unit s
 * @min 0
 * @max 5
 * @decimal 2
 * @increment 0.01
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_MAN_Y_TAU, 0.08f);

/**
 * Altitude reference mode
 *
 * Set to 0 to control height relative to the earth frame origin. This origin may move up and down in
 * flight due to sensor drift.
 * Set to 1 to control height relative to estimated distance to ground. The vehicle will move up and down
 * with terrain height variation. Requires a distance to ground sensor. The height controller will
 * revert to using height above origin if the distance to ground estimate becomes invalid as indicated
 * by the local_position.distance_bottom_valid message being false.
 * Set to 2 to control height relative to ground (requires a distance sensor) when stationary and relative
 * to earth frame origin when moving horizontally.
 * The speed threshold is controlled by the MPC_HOLD_MAX_XY parameter.
 *
 * @min 0
 * @max 2
 * @value 0 Altitude following
 * @value 1 Terrain following
 * @value 2 Terrain hold
 * @group Multicopter Position Control
 */
PARAM_DEFINE_INT32(MPC_ALT_MODE, 2);

/**
 * Maximum horizontal velocity for which position hold is enabled (use 0 to disable check)
 *
 * Only used with MPC_POS_MODE 0 or MPC_ALT_MODE 2
 *
 * @unit m/s
 * @min 0
 * @max 3
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_XY, 0.8f);

/**
 * Maximum vertical velocity for which position hold is enabled (use 0 to disable check)
 *
 * Only used with MPC_ALT_MODE 1
 *
 * @unit m/s
 * @min 0
 * @max 3
 * @decimal 2
 * @group Multicopter Position Control
 */
PARAM_DEFINE_FLOAT(MPC_HOLD_MAX_Z, 0.6f);