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  /**
   * @file rtl_params.c
   *
   * Parameters for RTL
   *
   * @author Julian Oes <julian@oes.ch>
   */
  
  #include <nuttx/config.h>
  
  #include <systemlib/param/param.h>
  
  /*
   * RTL parameters, accessible via MAVLink
   */
  
  /**
   * Loiter radius after RTL (FW only)
   *
   * Default value of loiter radius after RTL (fixedwing only).
   *
   * @unit meters
   * @min 20
   * @max 200
   * @group Return To Land
   */
  PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);
  
  /**
   * RTL altitude
   *
   * Altitude to fly back in RTL in meters
   *
   * @unit meters
   * @min 0
   * @max 150
   * @group Return To Land
   */
  PARAM_DEFINE_FLOAT(RTL_RETURN_ALT, 60);
  
  
  /**
   * RTL loiter altitude
   *
   * Stay at this altitude above home position after RTL descending.
   * Land (i.e. slowly descend) from this altitude if autolanding allowed.
   *
   * @unit meters
   * @min 2
   * @max 100
   * @group Return To Land
   */
  PARAM_DEFINE_FLOAT(RTL_DESCEND_ALT, 30);
  
  /**
   * RTL delay
   *
   * Delay after descend before landing in RTL mode.
   * If set to -1 the system will not land but loiter at NAV_LAND_ALT.
   *
   * @unit seconds
   * @min -1
   * @max 300
   * @group Return To Land
   */
  PARAM_DEFINE_FLOAT(RTL_LAND_DELAY, -1.0f);
  