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updated rtl parameter descriptions. #12470

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merged 3 commits into from
Oct 21, 2019
Merged

updated rtl parameter descriptions. #12470

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5c65935
updated rtl parameter descriptions.
RomanBapst Jul 12, 2019
375ccb2
addressed review comments
RomanBapst Oct 8, 2019
4ec710f
RTL params - proposed updates
hamishwillee Oct 14, 2019
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25 changes: 13 additions & 12 deletions src/modules/navigator/rtl_params.c
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Original file line number Diff line number Diff line change
Expand Up @@ -34,19 +34,20 @@
/**
* @file rtl_params.c
*
* Parameters for RTL
* Parameters for return to home mode.
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*
* @author Julian Oes <[email protected]>
*/

/*
* RTL parameters, accessible via MAVLink
* Return to home parameters, accessible via MAVLink
*/

/**
* RTL altitude
* Return to home relative altitude.
*
* Altitude to fly back in RTL in meters
* Default minimum altitude above home for return flight in return mode.
* This is affected by RTL_MIN_DIST and RTL_CONE_ANG.
*
* @unit m
* @min 0
Expand All @@ -59,9 +60,9 @@ PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);


/**
* Return mode 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.
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* Land (i.e. slowly descend) from this altitude if autolanding allowed.
*
* @unit m
Expand Down Expand Up @@ -89,11 +90,10 @@ 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 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 land straight on home instead of raising to the return
* altitude first.
* 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
Expand All @@ -118,9 +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.
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*
* 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 that
* affects the altitude at which the vehicle returns during return to home.
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*
* @unit degrees
* @min 0
Expand Down