src/main/pg/gps_rescue.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 #ifdef USE_GPS_RESCUE
  24
  25 #include "flight/gps_rescue.h"
  26
  27 #include "pg/pg.h"
  28 #include "pg/pg_ids.h"
  29
  30 #include "gps_rescue.h"
  31
  32 PG_REGISTER_WITH_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig, PG_GPS_RESCUE, 5);
  33
  34 PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
  35
  36     .minStartDistM = 15,
  37     .altitudeMode = GPS_RESCUE_ALT_MODE_MAX,
  38     .initialClimbM = 10,
  39     .ascendRate = 750,          // cm/s, for altitude corrections on ascent
  40
  41     .returnAltitudeM = 30,
  42     .groundSpeedCmS = 750,
  43     .maxRescueAngle = 45,
  44     .rollMix = 150,
  45     .pitchCutoffHz = 75,
  46
  47     .descentDistanceM = 20,
  48     .descendRate = 150,         // cm/s, minimum for descent and landing phase, or for descending if starting high ascent
  49     .targetLandingAltitudeM = 4,
  50     .disarmThreshold = 20,
  51
  52     .throttleMin = 1100,
  53     .throttleMax = 1700,
  54     .throttleHover = 1275,
  55
  56     .allowArmingWithoutFix = false,
  57     .sanityChecks = RESCUE_SANITY_FS_ONLY,
  58     .minSats = 8,
  59
  60     .throttleP = 15,
  61     .throttleI = 15,
  62     .throttleD = 20,
  63     .velP = 8,
  64     .velI = 40,
  65     .velD = 12,
  66     .yawP = 20,
  67
  68     .useMag = GPS_RESCUE_USE_MAG,
  69     .imuYawGain = 10
  70 );
  71
  72 #endif // USE_GPS_RESCUE