From 7d960a878d3b2ee5731c9ea337f9838f87d9ac8b Mon Sep 17 00:00:00 2001
From: PX4BuildBot <bot@px4.io>
Date: Wed, 24 Nov 2021 13:25:38 +0000
Subject: [PATCH] Update PX4 Firmware metadata Wed Nov 24 13:25:38 UTC 2021

---
 .../PX4/PX4ParameterFactMetaData.xml               | 24 +++++++++++++++++-----
 1 file changed, 19 insertions(+), 5 deletions(-)

diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 3e2f83d..bbaaae3 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -1458,11 +1458,6 @@
         <value code="6">Lockdown</value>
       </values>
     </parameter>
-    <parameter name="RTL_FLT_TIME" default="15" type="FLOAT">
-      <short_desc>Maximum allowed RTL flight in minutes</short_desc>
-      <long_desc>This is used to determine when the vehicle should be switched to RTL due to low battery. Note, particularly for multirotors this should reflect flight time at cruise speed, not while stationary</long_desc>
-      <unit>min</unit>
-    </parameter>
   </group>
   <group name="Data Link Loss">
     <parameter name="NAV_AH_ALT" default="600.0" type="FLOAT">
@@ -6870,6 +6865,25 @@
       </values>
     </parameter>
   </group>
+  <group name="Return To Land">
+    <parameter name="RTL_TIME_FACTOR" default="1.1" type="FLOAT">
+      <short_desc>RTL time estimate safety margin factor</short_desc>
+      <long_desc>Safety factor that is used to scale the actual RTL time estiamte. Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN</long_desc>
+      <min>1.0</min>
+      <max>2.0</max>
+      <decimal>1</decimal>
+      <increment>0.1</increment>
+    </parameter>
+    <parameter name="RTL_TIME_MARGIN" default="110" type="INT32">
+      <short_desc>RTL time estimate safety margin offset</short_desc>
+      <long_desc>Margin that is added to the time estimate, after it has already been scaled Time with margin = RTL_TIME_FACTOR * time + RTL_TIME_MARGIN</long_desc>
+      <min>0</min>
+      <max>300</max>
+      <unit>s</unit>
+      <decimal>1</decimal>
+      <increment>1</increment>
+    </parameter>
+  </group>
   <group name="Roboclaw driver">
     <parameter name="RBCLW_ADDRESS" default="128" type="INT32">
       <short_desc>Address of the Roboclaw</short_desc>