/****************************************************************************
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*
* 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
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****************************************************************************/
/*
* @file position_estimator_inav_params.c
*
* Parameters for position_estimator_inav
*/
#include "position_estimator_inav_params.h"
/* Kalman Filter covariances */
/* gps measurement noise standard deviation */
PARAM_DEFINE_INT32(INAV_USE_GPS, 0);
PARAM_DEFINE_FLOAT(INAV_K_ALT_00, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_ALT_01, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_ALT_10, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_ALT_11, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_ALT_20, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_ALT_21, 0.0f);
int parameters_init(struct position_estimator_inav_param_handles *h) {
h->use_gps = param_find("INAV_USE_GPS");
h->k_alt_00 = param_find("INAV_K_ALT_00");
h->k_alt_01 = param_find("INAV_K_ALT_01");
h->k_alt_10 = param_find("INAV_K_ALT_10");
h->k_alt_11 = param_find("INAV_K_ALT_11");
h->k_alt_20 = param_find("INAV_K_ALT_20");
h->k_alt_21 = param_find("INAV_K_ALT_21");
return OK;
}
int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p) {
param_get(h->use_gps, &(p->use_gps));
param_get(h->k_alt_00, &(p->k[0][0]));
param_get(h->k_alt_01, &(p->k[0][1]));
param_get(h->k_alt_10, &(p->k[1][0]));
param_get(h->k_alt_11, &(p->k[1][1]));
param_get(h->k_alt_20, &(p->k[2][0]));
param_get(h->k_alt_21, &(p->k[2][1]));
return OK;
}