path: root/src/modules/position_estimator_inav/position_estimator_inav_params.c

/****************************************************************************
 *
 *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
 *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
 *
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 * modification, are permitted provided that the following conditions
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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/*
 * @file position_estimator_inav_params.c
 *
 * Parameters for position_estimator_inav
 */

#include "position_estimator_inav_params.h"

PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f);
PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 20.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.0165f);
PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f);
PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f);
PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f);

int parameters_init(struct position_estimator_inav_param_handles *h)
{
	h->w_z_baro = param_find("INAV_W_Z_BARO");
	h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
	h->w_z_acc = param_find("INAV_W_Z_ACC");
	h->w_z_sonar = param_find("INAV_W_Z_SONAR");
	h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
	h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V");
	h->w_xy_acc = param_find("INAV_W_XY_ACC");
	h->w_xy_flow = param_find("INAV_W_XY_FLOW");
	h->w_gps_flow = param_find("INAV_W_GPS_FLOW");
	h->w_acc_bias = param_find("INAV_W_ACC_BIAS");
	h->flow_k = param_find("INAV_FLOW_K");
	h->flow_q_min = param_find("INAV_FLOW_Q_MIN");
	h->sonar_filt = param_find("INAV_SONAR_FILT");
	h->sonar_err = param_find("INAV_SONAR_ERR");
	h->land_t = param_find("INAV_LAND_T");
	h->land_disp = param_find("INAV_LAND_DISP");
	h->land_thr = param_find("INAV_LAND_THR");

	return OK;
}

int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p)
{
	param_get(h->w_z_baro, &(p->w_z_baro));
	param_get(h->w_z_gps_p, &(p->w_z_gps_p));
	param_get(h->w_z_acc, &(p->w_z_acc));
	param_get(h->w_z_sonar, &(p->w_z_sonar));
	param_get(h->w_xy_gps_p, &(p->w_xy_gps_p));
	param_get(h->w_xy_gps_v, &(p->w_xy_gps_v));
	param_get(h->w_xy_acc, &(p->w_xy_acc));
	param_get(h->w_xy_flow, &(p->w_xy_flow));
	param_get(h->w_gps_flow, &(p->w_gps_flow));
	param_get(h->w_acc_bias, &(p->w_acc_bias));
	param_get(h->flow_k, &(p->flow_k));
	param_get(h->flow_q_min, &(p->flow_q_min));
	param_get(h->sonar_filt, &(p->sonar_filt));
	param_get(h->sonar_err, &(p->sonar_err));
	param_get(h->land_t, &(p->land_t));
	param_get(h->land_disp, &(p->land_disp));
	param_get(h->land_thr, &(p->land_thr));

	return OK;
}