src/main/pg/gps_rescue_multirotor.c

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #include "platform.h"
  22
  23 #ifndef USE_WING
  24
  25 #ifdef USE_GPS_RESCUE
  26
  27 #include "flight/gps_rescue.h"
  28
  29 #include "pg/pg.h"
  30 #include "pg/pg_ids.h"
  31
  32 #include "gps_rescue.h"
  33
  34 PG_REGISTER_WITH_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 7);
  35
  36 PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
  37
  38     .minStartDistM = 15,
  39     .altitudeMode = GPS_RESCUE_ALT_MODE_MAX,
  40     .initialClimbM = 10,
  41     .ascendRate = 750,          // cm/s, for altitude corrections on ascent
  42
  43     .returnAltitudeM = 30,
  44     .groundSpeedCmS = 750,
  45     .maxRescueAngle = 45,
  46     .rollMix = 150,
  47     .pitchCutoffHz = 75,
  48
  49     .descentDistanceM = 20,
  50     .descendRate = 150,         // cm/s, minimum for descent and landing phase, or for descending if starting high ascent
  51     .disarmThreshold = 30,
  52
  53     .allowArmingWithoutFix = false,
  54     .sanityChecks = RESCUE_SANITY_FS_ONLY,
  55     .minSats = 8,
  56
  57     .velP = 8,
  58     .velI = 40,
  59     .velD = 12,
  60     .yawP = 20,
  61
  62     .useMag = GPS_RESCUE_USE_MAG,
  63     .imuYawGain = 10
  64 );
  65
  66 #endif // USE_GPS_RESCUE
  67
  68 #endif // !USE_WING