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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: Damian Aregger <daregger@student.ethz.ch>
* Tobias Naegeli <naegelit@student.ethz.ch>
* Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* 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
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file position_estimator_mc_params.c
*
* Parameters for position_estimator_mc
*/
#include "position_estimator_mc_params.h"
/* Kalman Filter covariances */
/* gps measurement noise standard deviation */
PARAM_DEFINE_FLOAT(POS_EST_ADDN, 1.0f);
PARAM_DEFINE_FLOAT(POS_EST_SIGMA, 0.0f);
PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f);
PARAM_DEFINE_INT32(POS_EST_BARO, 0.0f);
int parameters_init(struct position_estimator_mc_param_handles *h)
{
h->addNoise = param_find("POS_EST_ADDN");
h->sigma = param_find("POS_EST_SIGMA");
h->r = param_find("POS_EST_R");
h->baro_param_handle = param_find("POS_EST_BARO");
return OK;
}
int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p)
{
param_get(h->addNoise, &(p->addNoise));
param_get(h->sigma, &(p->sigma));
param_get(h->r, &(p->R));
param_get(h->baro_param_handle, &(p->baro));
return OK;
}
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