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   *
   *   Copyright (c) 2014-2016 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
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   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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   ****************************************************************************/
  
  /**
   * @file mission_params.c
   *
   * Parameters for mission.
   *
   * @author Julian Oes <julian@oes.ch>
   */
  
  /*
   * Mission parameters, accessible via MAVLink
   */
  
  /**
   * Take-off altitude
   *
   * This is the minimum altitude the system will take off to.
   *
   * @unit m
   * @min 0
   * @max 80
   * @decimal 1
   * @increment 0.5
   * @group Mission
   */
  PARAM_DEFINE_FLOAT(MIS_TAKEOFF_ALT, 2.5f);
  
  /**
   * 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
   *
   * @unit m
   * @min -1
   * @max 80
   * @decimal 1
   * @increment 0.5
   * @group Mission
   */
  PARAM_DEFINE_FLOAT(MIS_LTRMIN_ALT, -1.0f);
  
  /**
   * 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.
   *
   * @unit m
   * @min 0
   * @max 10000
   * @decimal 1
   * @increment 100
   * @group Mission
   */
  PARAM_DEFINE_FLOAT(MIS_DIST_1WP, 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.
   *
   * @unit m
   * @min 0
   * @max 10000
   * @decimal 1
   * @increment 100
   * @group Mission
   */
  PARAM_DEFINE_FLOAT(MIS_DIST_WPS, 900);
  
  /**
   * 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
   *
   * @min 0
   * @max 1
   * @value 0 Zero Order Hold
   * @value 1 First Order Hold
   * @group Mission
   */
  PARAM_DEFINE_INT32(MIS_ALTMODE, 1);
  
  /**
  * 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.
  *
  * @value 0 Disable
  * @value 1 Enable
  * @min 0
  * @max 1
  * @group Mission
  */
  PARAM_DEFINE_INT32(MIS_MNT_YAW_CTL, 0);
  
  /**
   * 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.
   *
   * @unit s
   * @min -1
   * @max 20
   * @decimal 1
   * @increment 1
   * @group Mission
   */
  PARAM_DEFINE_FLOAT(MIS_YAW_TMT, -1.0f);
  
  /**
   * Max yaw error in degrees needed for waypoint heading acceptance.
   *
   * @unit deg
   * @min 0
   * @max 90
   * @decimal 1
   * @increment 1
   * @group Mission
   */
  PARAM_DEFINE_FLOAT(MIS_YAW_ERR, 12.0f);
  