Parameters for mission. More...

Functions
	PARAM_DEFINE_FLOAT (MIS_TAKEOFF_ALT, 2.5f)
	Take-off altitude. More...

	PARAM_DEFINE_INT32 (MIS_TAKEOFF_REQ, 0)
	Take-off waypoint required. More...

	PARAM_DEFINE_FLOAT (MIS_LTRMIN_ALT, -1.0f)
	Minimum Loiter altitude. More...

	PARAM_DEFINE_FLOAT (MIS_DIST_1WP, 900)
	Maximal horizontal distance from home to first waypoint. More...

	PARAM_DEFINE_FLOAT (MIS_DIST_WPS, 900)
	Maximal horizontal distance between waypoint. More...

	PARAM_DEFINE_INT32 (MIS_ALTMODE, 1)
	Altitude setpoint mode. More...

	PARAM_DEFINE_INT32 (MIS_MNT_YAW_CTL, 0)
	Enable yaw control of the mount. More...

	PARAM_DEFINE_FLOAT (MIS_YAW_TMT, -1.0f)
	Time in seconds we wait on reaching target heading at a waypoint if it is forced. More...

	PARAM_DEFINE_FLOAT (MIS_YAW_ERR, 12.0f)
	Max yaw error in degrees needed for waypoint heading acceptance. More...

Detailed Description

Parameters for mission.

Author: Julian Oes julia.nosp@m.n@oe.nosp@m.s.ch

Function Documentation

§ PARAM_DEFINE_FLOAT() [1/6]

PARAM_DEFINE_FLOAT	(	MIS_TAKEOFF_ALT	,
		2.	5f
	)

Take-off altitude.

This is the minimum altitude the system will take off to.

m 0 80 1 0.5 Mission

§ PARAM_DEFINE_FLOAT() [2/6]

PARAM_DEFINE_FLOAT	(	MIS_LTRMIN_ALT	,
		-1.	0f
	)

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

m -1 80 1 0.5 Mission

§ PARAM_DEFINE_FLOAT() [3/6]

PARAM_DEFINE_FLOAT	(	MIS_DIST_1WP	,
		900
	)

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.

m 0 10000 1 100 Mission

§ PARAM_DEFINE_FLOAT() [4/6]

PARAM_DEFINE_FLOAT	(	MIS_DIST_WPS	,
		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.

m 0 10000 1 100 Mission

§ PARAM_DEFINE_FLOAT() [5/6]

PARAM_DEFINE_FLOAT	(	MIS_YAW_TMT	,
		-1.	0f
	)

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.

s -1 20 1 1 Mission

§ PARAM_DEFINE_FLOAT() [6/6]

PARAM_DEFINE_FLOAT	(	MIS_YAW_ERR	,
		12.	0f
	)

Max yaw error in degrees needed for waypoint heading acceptance.

deg 0 90 1 1 Mission

§ PARAM_DEFINE_INT32() [1/3]

PARAM_DEFINE_INT32	(	MIS_TAKEOFF_REQ	,
		0
	)

Take-off waypoint required.

If set, the mission feasibility checker will check for a takeoff waypoint on the mission.

Mission

§ PARAM_DEFINE_INT32() [2/3]

PARAM_DEFINE_INT32	(	MIS_ALTMODE	,
		1
	)

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

0 1 0 Zero Order Hold 1 First Order Hold Mission

§ PARAM_DEFINE_INT32() [3/3]

PARAM_DEFINE_INT32	(	MIS_MNT_YAW_CTL	,
		0
	)

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 towards the flight direction. If disabled, the vehicle will yaw towards the ROI.

0 Disable 1 Enable 0 1 Mission

Functions