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  /**
   * @file battery_params.c
   *
   * Parameters defined by the battery lib.
   *
   * @author Julian Oes <julian@oes.ch>
   */
  
  #include <px4_config.h>
  #include <systemlib/param/param.h>
  
  /**
   * Empty cell voltage (5C load)
   *
   * Defines the voltage where a single cell of the battery is considered empty.
   * The voltage should be chosen before the steep dropoff to 2.8V. A typical
   * lithium battery can only be discharged down to 10% before it drops off
   * to a voltage level damaging the cells.
   *
   * @group Battery Calibration
   * @unit V
   * @decimal 2
   * @increment 0.01
   * @reboot_required true
   */
  //PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.4f);
  PARAM_DEFINE_FLOAT(BAT_V_EMPTY, 3.5f);  //by rst-033
  
  /**
   * Full cell voltage (5C load)
   *
   * Defines the voltage where a single cell of the battery is considered full
   * under a mild load. This will never be the nominal voltage of 4.2V
   *
   * @group Battery Calibration
   * @unit V
   * @decimal 2
   * @increment 0.01
   * @reboot_required true
   */
  PARAM_DEFINE_FLOAT(BAT_V_CHARGED, 4.2f);
  
  /**
   * Low threshold
   *
   * Sets the threshold when the battery will be reported as low.
   * This has to be higher than the critical threshold.
   *
   * @group Battery Calibration
   * @unit norm
   * @min 0.12
   * @max 0.4
   * @decimal 2
   * @increment 0.01
   * @reboot_required true
   */
  PARAM_DEFINE_FLOAT(BAT_LOW_THR, 0.15f);
  
  /**
   * Critical threshold
   *
   * Sets the threshold when the battery will be reported as critically low.
   * This has to be lower than the low threshold. This threshold commonly
   * will trigger RTL.
   *
   * @group Battery Calibration
   * @unit norm
   * @min 0.05
   * @max 0.1
   * @decimal 2
   * @increment 0.01
   * @reboot_required true
   */
  PARAM_DEFINE_FLOAT(BAT_CRIT_THR, 0.10f);
  
  /**
   * Emergency threshold
   *
   * Sets the threshold when the battery will be reported as dangerously low.
   * This has to be lower than the critical threshold. This threshold commonly
   * will trigger landing.
   *
   * @group Battery Calibration
   * @unit norm
   * @min 0.03
   * @max 0.07
   * @decimal 2
   * @increment 0.01
   * @reboot_required true
   */
  PARAM_DEFINE_FLOAT(BAT_EMERGEN_THR, 0.05f);
  
  /**
   * Voltage drop per cell on full throttle
   *
   * This implicitely defines the internal resistance
   * to maximum current ratio and assumes linearity.
   * A good value to use is the difference between the
   * 5C and 20-25C load. Not used if BAT_R_INTERNAL is
   * set.
   *
   * @group Battery Calibration
   * @unit V
   * @min 0.07
   * @max 0.5
   * @decimal 2
   * @increment 0.01
   * @reboot_required true
   */
  PARAM_DEFINE_FLOAT(BAT_V_LOAD_DROP, 0.3f);
  
  /**
   * Explicitly defines the per cell internal resistance
   *
   * If non-negative, then this will be used in place of
   * BAT_V_LOAD_DROP for all calculations.
   *
   * @group Battery Calibration
   * @unit Ohms
   * @min -1.0
   * @max 0.2
   * @reboot_required true
   */
  PARAM_DEFINE_FLOAT(BAT_R_INTERNAL, -1.0f);
  
  /**
   * Number of cells.
   *
   * Defines the number of cells the attached battery consists of.
   *
   * @group Battery Calibration
   * @unit S
   * @value 0 Unconfigured
   * @value 2 2S Battery
   * @value 3 3S Battery
   * @value 4 4S Battery
   * @value 5 5S Battery
   * @value 6 6S Battery
   * @value 7 7S Battery
   * @value 8 8S Battery
   * @value 9 9S Battery
   * @value 10 10S Battery
   * @value 11 11S Battery
   * @value 12 12S Battery
   * @value 13 13S Battery
   * @value 14 14S Battery
   * @value 15 15S Battery
   * @value 16 16S Battery
   * @reboot_required true
   */
  PARAM_DEFINE_INT32(BAT_N_CELLS, 4);
  
  /**
   * Battery capacity.
   *
   * Defines the capacity of the attached battery.
   *
   * @group Battery Calibration
   * @unit mA
   * @decimal 0
   * @min -1.0
   * @max 100000
   * @increment 50
   * @reboot_required true
   */
  PARAM_DEFINE_FLOAT(BAT_CAPACITY, -1.0f);
  