diff options
Diffstat (limited to 'src/modules/position_estimator_inav/position_estimator_inav_params.c')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_params.c | 59 |
1 files changed, 34 insertions, 25 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index 4f9ddd009..0581f8236 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -40,57 +40,66 @@ #include "position_estimator_inav_params.h" -PARAM_DEFINE_FLOAT(INAV_W_ALT_BARO, 0.5f); -PARAM_DEFINE_FLOAT(INAV_W_ALT_ACC, 50.0f); -PARAM_DEFINE_FLOAT(INAV_W_ALT_SONAR, 3.0f); -PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_P, 1.0f); -PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 2.0f); -PARAM_DEFINE_FLOAT(INAV_W_POS_ACC, 10.0f); -PARAM_DEFINE_FLOAT(INAV_W_POS_FLOW, 0.0f); -PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.0f); -PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.0f); -PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.02f); +PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f); +PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f); +PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f); +PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); +PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); +PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f); +PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f); +PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f); PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f); PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f); PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f); -PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f); +PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f); +PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f); int parameters_init(struct position_estimator_inav_param_handles *h) { - h->w_alt_baro = param_find("INAV_W_ALT_BARO"); - h->w_alt_acc = param_find("INAV_W_ALT_ACC"); - h->w_alt_sonar = param_find("INAV_W_ALT_SONAR"); - h->w_pos_gps_p = param_find("INAV_W_POS_GPS_P"); - h->w_pos_gps_v = param_find("INAV_W_POS_GPS_V"); - h->w_pos_acc = param_find("INAV_W_POS_ACC"); - h->w_pos_flow = param_find("INAV_W_POS_FLOW"); + h->w_z_baro = param_find("INAV_W_Z_BARO"); + h->w_z_gps_p = param_find("INAV_W_Z_GPS_P"); + h->w_z_sonar = param_find("INAV_W_Z_SONAR"); + h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P"); + h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V"); + h->w_xy_flow = param_find("INAV_W_XY_FLOW"); + h->w_xy_res_v = param_find("INAV_W_XY_RES_V"); + h->w_gps_flow = param_find("INAV_W_GPS_FLOW"); h->w_acc_bias = param_find("INAV_W_ACC_BIAS"); h->flow_k = param_find("INAV_FLOW_K"); + h->flow_q_min = param_find("INAV_FLOW_Q_MIN"); h->sonar_filt = param_find("INAV_SONAR_FILT"); h->sonar_err = param_find("INAV_SONAR_ERR"); h->land_t = param_find("INAV_LAND_T"); h->land_disp = param_find("INAV_LAND_DISP"); h->land_thr = param_find("INAV_LAND_THR"); + h->delay_gps = param_find("INAV_DELAY_GPS"); return OK; } int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p) { - param_get(h->w_alt_baro, &(p->w_alt_baro)); - param_get(h->w_alt_acc, &(p->w_alt_acc)); - param_get(h->w_alt_sonar, &(p->w_alt_sonar)); - param_get(h->w_pos_gps_p, &(p->w_pos_gps_p)); - param_get(h->w_pos_gps_v, &(p->w_pos_gps_v)); - param_get(h->w_pos_acc, &(p->w_pos_acc)); - param_get(h->w_pos_flow, &(p->w_pos_flow)); + param_get(h->w_z_baro, &(p->w_z_baro)); + param_get(h->w_z_gps_p, &(p->w_z_gps_p)); + param_get(h->w_z_sonar, &(p->w_z_sonar)); + param_get(h->w_xy_gps_p, &(p->w_xy_gps_p)); + param_get(h->w_xy_gps_v, &(p->w_xy_gps_v)); + param_get(h->w_xy_flow, &(p->w_xy_flow)); + param_get(h->w_xy_res_v, &(p->w_xy_res_v)); + param_get(h->w_gps_flow, &(p->w_gps_flow)); param_get(h->w_acc_bias, &(p->w_acc_bias)); param_get(h->flow_k, &(p->flow_k)); + param_get(h->flow_q_min, &(p->flow_q_min)); param_get(h->sonar_filt, &(p->sonar_filt)); param_get(h->sonar_err, &(p->sonar_err)); param_get(h->land_t, &(p->land_t)); param_get(h->land_disp, &(p->land_disp)); param_get(h->land_thr, &(p->land_thr)); + param_get(h->delay_gps, &(p->delay_gps)); return OK; } |