/****************************************************************************
*
* Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
* Author: Samuel Zihlmann <samuezih@ee.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
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*
****************************************************************************/
/*
* @file flow_position_estimator_params.c
*
* Parameters for position estimator
*/
#include "flow_position_estimator_params.h"
/* Extended Kalman Filter covariances */
/* controller parameters */
PARAM_DEFINE_FLOAT(FPE_LO_THRUST, 0.4f);
PARAM_DEFINE_FLOAT(FPE_SONAR_LP_U, 0.5f);
PARAM_DEFINE_FLOAT(FPE_SONAR_LP_L, 0.2f);
PARAM_DEFINE_INT32(FPE_DEBUG, 0);
int parameters_init(struct flow_position_estimator_param_handles *h)
{
/* PID parameters */
h->minimum_liftoff_thrust = param_find("FPE_LO_THRUST");
h->sonar_upper_lp_threshold = param_find("FPE_SONAR_LP_U");
h->sonar_lower_lp_threshold = param_find("FPE_SONAR_LP_L");
h->debug = param_find("FPE_DEBUG");
return OK;
}
int parameters_update(const struct flow_position_estimator_param_handles *h, struct flow_position_estimator_params *p)
{
param_get(h->minimum_liftoff_thrust, &(p->minimum_liftoff_thrust));
param_get(h->sonar_upper_lp_threshold, &(p->sonar_upper_lp_threshold));
param_get(h->sonar_lower_lp_threshold, &(p->sonar_lower_lp_threshold));
param_get(h->debug, &(p->debug));
return OK;
}