navigation.h

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/*
 * This file is part of Ninjaflight.
 *
 * Copyright: collective.
 * Cleanup: Martin Schröder <mkschreder.uk@gmail.com>
 * Original source from Cleanflight.
 *
 * Ninjaflight is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * Ninjaflight is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with Ninjaflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#pragma once

//TODO: these should probably be named nav_profile ..

struct gps_profile {
    uint16_t gps_wp_radius;                 // if we are within this distance to a waypoint then we consider it reached (distance is in cm)
    uint8_t gps_lpf;                        // Low pass filter cut frequency for derivative calculation (default 20Hz)
    uint8_t nav_slew_rate;                  // Adds a rate control to nav output, will smoothen out nav angle spikes
    uint8_t nav_controls_heading;           // copter faces toward the navigation point, maghold must be enabled for it
    uint16_t nav_speed_min;                 // cm/sec
    uint16_t nav_speed_max;                 // cm/sec
    uint16_t ap_mode;                       // Temporarily Disables GPS_HOLD_MODE to be able to make it possible to adjust the Hold-position when moving the sticks, creating a deadspan for GPS
} __attribute__((packed)) ;