path: root/src/modules/attitude_estimator_so3/attitude_estimator_so3_params.h

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 *
 *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
 *   Author: Hyon Lim <limhyon@gmail.com>
 *           Anton Babushkin <anton.babushkin@me.com>
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/*
 * @file attitude_estimator_so3_params.h
 *
 * Parameters for nonlinear complementary filters on the SO(3).
 */

#include <systemlib/param/param.h>

struct attitude_estimator_so3_params {
	float Kp;
	float Ki;
	float roll_off;
	float pitch_off;
	float yaw_off;
};

struct attitude_estimator_so3_param_handles {
	param_t Kp, Ki;
	param_t roll_off, pitch_off, yaw_off;
};

/**
 * Initialize all parameter handles and values
 *
 */
int parameters_init(struct attitude_estimator_so3_param_handles *h);

/**
 * Update all parameters
 *
 */
int parameters_update(const struct attitude_estimator_so3_param_handles *h, struct attitude_estimator_so3_params *p);