From d1b27ab056d35f695b33d1a021d8900a4d69ba61 Mon Sep 17 00:00:00 2001
From: Andreas Antener <antener_a@gmx.ch>
Date: Mon, 20 Jun 2016 19:23:11 +0200
Subject: [PATCH] moved params NAV_OBL to COM_OBL

---
 posix-configs/SITL/init/rcS_gazebo_iris  |  4 +-
 src/modules/commander/commander.cpp      |  4 +-
 src/modules/commander/commander_params.c | 54 ++++++++++++++++++------
 src/modules/navigator/navigator_params.c | 30 -------------
 4 files changed, 46 insertions(+), 46 deletions(-)

diff --git a/posix-configs/SITL/init/rcS_gazebo_iris b/posix-configs/SITL/init/rcS_gazebo_iris
index 8e915cea66..47f862fb04 100644
--- a/posix-configs/SITL/init/rcS_gazebo_iris
+++ b/posix-configs/SITL/init/rcS_gazebo_iris
@@ -24,8 +24,8 @@ param set NAV_DLL_ACT 2
 param set COM_DISARM_LAND 3
 param set NAV_ACC_RAD 2.0
 param set COM_OF_LOSS_T 5
-param set NAV_OBL_ACT 2
-param set NAV_OBL_RC_ACT 0
+param set COM_OBL_ACT 2
+param set COM_OBL_RC_ACT 0
 param set RTL_RETURN_ALT 30.0
 param set RTL_DESCEND_ALT 5.0
 param set RTL_LAND_DELAY 5
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 5f813ec138..c9b50d162a 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1161,8 +1161,8 @@ int commander_thread_main(int argc, char *argv[])
 	param_t _param_component_id = param_find("MAV_COMP_ID");
 	param_t _param_enable_datalink_loss = param_find("NAV_DLL_ACT");
 	param_t _param_enable_rc_loss = param_find("NAV_RCL_ACT");
-	param_t _param_offboard_loss_act = param_find("NAV_OBL_ACT");
-	param_t _param_offboard_loss_rc_act = param_find("NAV_OBL_RC_ACT");
+	param_t _param_offboard_loss_act = param_find("COM_OBL_ACT");
+	param_t _param_offboard_loss_rc_act = param_find("COM_OBL_RC_ACT");
 	param_t _param_datalink_loss_timeout = param_find("COM_DL_LOSS_T");
 	param_t _param_rc_loss_timeout = param_find("COM_RC_LOSS_T");
 	param_t _param_datalink_regain_timeout = param_find("COM_DL_REG_T");
diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index 3ca993071b..fc9fcf5372 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -276,6 +276,48 @@ PARAM_DEFINE_INT32(COM_DISARM_LAND, 0);
  */
 PARAM_DEFINE_INT32(COM_LOW_BAT_ACT, 0);
 
+/**
+ * Time-out to wait when offboard connection is lost before triggering offboard lost action.
+ * See COM_OBL_ACT and COM_OBL_RC_ACT to configure action.
+ *
+ * @group Commander
+ * @unit second
+ * @min 0
+ * @max 60
+ * @increment 1
+ */
+PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.0f);
+
+/**
+ * Set offboard loss failsafe mode
+ *
+ * The offboard loss failsafe will only be entered after a timeout,
+ * set by COM_OF_LOSS_T in seconds.
+ *
+ * @value 0 Land at current position
+ * @value 1 Loiter
+ * @value 2 Return to Land
+ *
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(COM_OBL_ACT, 0);
+
+/**
+ * Set offboard loss failsafe mode when RC is available
+ *
+ * The offboard loss failsafe will only be entered after a timeout,
+ * set by COM_OF_LOSS_T in seconds.
+ *
+ * @value 0 Position control
+ * @value 1 Altitude control
+ * @value 2 Manual
+ * @value 3 Return to Land
+ * @value 4 Land at current position
+ *
+ * @group Mission
+ */
+PARAM_DEFINE_INT32(COM_OBL_RC_ACT, 0);
+
 /**
  * First flightmode slot (1000-1160)
  *
@@ -413,15 +455,3 @@ PARAM_DEFINE_INT32(COM_FLTMODE5, -1);
  * @value 12 Follow Me
  */
 PARAM_DEFINE_INT32(COM_FLTMODE6, -1);
-
-/**
- * Time-out to wait when offboard connection is lost before triggering offboard lost action.
- * See NAV_OBL_ACT and NAV_OBL_RC_ACT to configure action.
- *
- * @group Commander
- * @unit second
- * @min 0
- * @max 60
- * @increment 1
- */
-PARAM_DEFINE_FLOAT(COM_OF_LOSS_T, 0.0f);
diff --git a/src/modules/navigator/navigator_params.c b/src/modules/navigator/navigator_params.c
index ab923c4850..523f03b42e 100644
--- a/src/modules/navigator/navigator_params.c
+++ b/src/modules/navigator/navigator_params.c
@@ -104,36 +104,6 @@ PARAM_DEFINE_INT32(NAV_DLL_ACT, 0);
  */
 PARAM_DEFINE_INT32(NAV_RCL_ACT, 0);
 
-/**
- * Set offboard loss failsafe mode
- *
- * The offboard loss failsafe will only be entered after a timeout,
- * set by COM_OF_LOSS_T in seconds.
- *
- * @value 0 Land at current position
- * @value 1 Loiter
- * @value 2 Return to Land
- *
- * @group Mission
- */
-PARAM_DEFINE_INT32(NAV_OBL_ACT, 0);
-
-/**
- * Set offboard loss failsafe mode when RC is available
- *
- * The offboard loss failsafe will only be entered after a timeout,
- * set by COM_OF_LOSS_T in seconds.
- *
- * @value 0 Position control
- * @value 1 Altitude control
- * @value 2 Manual
- * @value 3 Return to Land
- * @value 4 Land at current position
- *
- * @group Mission
- */
-PARAM_DEFINE_INT32(NAV_OBL_RC_ACT, 0);
-
 /**
  * Airfield home Lat
  *