From 5c65935196cc79fe983e4fe723805c5650f07ed9 Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Fri, 12 Jul 2019 13:43:39 +0200 Subject: [PATCH 1/3] updated rtl parameter descriptions. Signed-off-by: RomanBapst --- src/modules/navigator/rtl_params.c | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c index 7f6d95e5c1cd..706bb67a25a9 100644 --- a/src/modules/navigator/rtl_params.c +++ b/src/modules/navigator/rtl_params.c @@ -44,9 +44,10 @@ */ /** - * RTL altitude + * Return to home relative altitude. * - * Altitude to fly back in RTL in meters + * Relative altitude above home at which the vehicle will return during RTL mode. + * This is affected by RTL_MIN_DIST and RTL_CONE_ANG. * * @unit m * @min 0 @@ -59,7 +60,7 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60); /** - * Return mode loiter altitude + * Return to home relative loiter altitude. * * Stay at this altitude above home position after RTL descending. * Land (i.e. slowly descend) from this altitude if autolanding allowed. @@ -89,11 +90,11 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30); PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f); /** - * Minimum distance to trigger rising to a safe altitude + * Maximum horizontal distance to home position below which vehicle will use + * RTL_DESCEND_ALT as return altitude. * * If the system is horizontally closer than this distance to home - * it will land straight on home instead of raising to the return - * altitude first. + * it will only ascend to RTL_DESCEND_ALT before moving horizontally to the home position. * * @unit m * @min 0.5 @@ -120,7 +121,8 @@ PARAM_DEFINE_INT32(RTL_TYPE, 0); /** * Half-angle of the RTL cone. * - * Defines the half-angle of the cone which defines the vehicle RTL behavior. + * Defines the half-angle of a cone centered around the home position which + * affects the altitude at which the vehicle returns during RTL. * * @unit degrees * @min 0 From 375ccb2d1f757e9d8471eeeb62f6e4bc43f908cc Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Tue, 8 Oct 2019 08:23:57 +0200 Subject: [PATCH 2/3] addressed review comments Signed-off-by: RomanBapst --- src/modules/navigator/rtl_params.c | 23 +++++++++++------------ 1 file changed, 11 insertions(+), 12 deletions(-) diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c index 706bb67a25a9..8d9a974ffff3 100644 --- a/src/modules/navigator/rtl_params.c +++ b/src/modules/navigator/rtl_params.c @@ -34,19 +34,19 @@ /** * @file rtl_params.c * - * Parameters for RTL + * Parameters for return to home mode. * * @author Julian Oes */ /* - * RTL parameters, accessible via MAVLink + * Return to home parameters, accessible via MAVLink */ /** * Return to home relative altitude. * - * Relative altitude above home at which the vehicle will return during RTL mode. + * Default minimum altitude above home for return flight in return mode. * This is affected by RTL_MIN_DIST and RTL_CONE_ANG. * * @unit m @@ -60,9 +60,9 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60); /** - * Return to home relative loiter altitude. + * Return mode loiter altitude (relative to home). * - * Stay at this altitude above home position after RTL descending. + * Stay at this altitude above home position after return to home mode descending. * Land (i.e. slowly descend) from this altitude if autolanding allowed. * * @unit m @@ -90,11 +90,10 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30); PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f); /** - * Maximum horizontal distance to home position below which vehicle will use - * RTL_DESCEND_ALT as return altitude. + * Maximum horizontal distance from home, below which RTL_DESCEND_ALT is used as return altitude. * - * If the system is horizontally closer than this distance to home - * it will only ascend to RTL_DESCEND_ALT before moving horizontally to the home position. + * If the vehicle is less than this horizontal distance from home when return mode is activated it will ascend + * to RTL_DESCEND_ALT for the return journey (rather than the altitude set by RTL_RETURN_ALT and RTL_CONE_ANG). * * @unit m * @min 0.5 @@ -119,10 +118,10 @@ PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 5.0f); PARAM_DEFINE_INT32(RTL_TYPE, 0); /** - * Half-angle of the RTL cone. + * Half-angle of the return to home cone. * - * Defines the half-angle of a cone centered around the home position which - * affects the altitude at which the vehicle returns during RTL. + * Defines the half-angle of a cone centered around the home position that + * affects the altitude at which the vehicle returns during return to home. * * @unit degrees * @min 0 From 4ec710fbab54bd9330865b975a1835b89e2d3297 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Mon, 14 Oct 2019 20:55:48 +1100 Subject: [PATCH 3/3] RTL params - proposed updates --- src/modules/navigator/rtl_params.c | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/src/modules/navigator/rtl_params.c b/src/modules/navigator/rtl_params.c index 8d9a974ffff3..2ec7afc97231 100644 --- a/src/modules/navigator/rtl_params.c +++ b/src/modules/navigator/rtl_params.c @@ -34,19 +34,19 @@ /** * @file rtl_params.c * - * Parameters for return to home mode. + * Parameters for return mode * * @author Julian Oes */ /* - * Return to home parameters, accessible via MAVLink + * Return mode parameters, accessible via MAVLink */ /** - * Return to home relative altitude. + * Return mode return altitude * - * Default minimum altitude above home for return flight in return mode. + * Default minimum altitude above home for return flight. * This is affected by RTL_MIN_DIST and RTL_CONE_ANG. * * @unit m @@ -60,9 +60,9 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60); /** - * Return mode loiter altitude (relative to home). + * Return mode loiter altitude (relative to home) * - * Stay at this altitude above home position after return to home mode descending. + * Descend to this altitude (above home position) after return, and wait for time defined in RTL_LAND_DELAY. * Land (i.e. slowly descend) from this altitude if autolanding allowed. * * @unit m @@ -77,7 +77,7 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30); /** * Return mode delay * - * Delay after descend before landing in Return mode. + * Delay before landing (after initial descent) in Return mode. * If set to -1 the system will not land but loiter at RTL_DESCEND_ALT. * * @unit s @@ -90,7 +90,7 @@ PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30); PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f); /** - * Maximum horizontal distance from home, below which RTL_DESCEND_ALT is used as return altitude. + * Maximum horizontal distance from home, below which RTL_DESCEND_ALT is used as return altitude * * If the vehicle is less than this horizontal distance from home when return mode is activated it will ascend * to RTL_DESCEND_ALT for the return journey (rather than the altitude set by RTL_RETURN_ALT and RTL_CONE_ANG). @@ -118,7 +118,7 @@ PARAM_DEFINE_FLOAT(RTL_MIN_DIST, 5.0f); PARAM_DEFINE_INT32(RTL_TYPE, 0); /** - * Half-angle of the return to home cone. + * Half-angle of the return mode altitude cone * * Defines the half-angle of a cone centered around the home position that * affects the altitude at which the vehicle returns during return to home.