path: root/apps/position_estimator_inav/position_estimator_inav_params.c

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 *
 *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
 *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
 *
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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;
}