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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-27 16:17:31 -0800 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-27 16:17:31 -0800 |
commit | 2dd5636ee0763d261ad40330a42dd9a271accb9b (patch) | |
tree | 21f33aa5ded4b9fcd1c86b6d68ed3dd706af6e82 | |
parent | d71396e556a4a729d7fdf14244c1592477cb399e (diff) | |
download | px4-firmware-2dd5636ee0763d261ad40330a42dd9a271accb9b.tar.gz px4-firmware-2dd5636ee0763d261ad40330a42dd9a271accb9b.tar.bz2 px4-firmware-2dd5636ee0763d261ad40330a42dd9a271accb9b.zip |
Add and enable all filter params.
-rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c | 67 |
1 files changed, 66 insertions, 1 deletions
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c index 64e593a15..6138ef39c 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c @@ -48,5 +48,70 @@ * */ -PARAM_DEFINE_FLOAT(NAV_DUMMY, 0.0f); +/** + * Velocity estimate delay + * + * The delay in milliseconds of the velocity estimate from GPS. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_VEL_DELAY_MS, 230); + +/** + * Position estimate delay + * + * The delay in milliseconds of the position estimate from GPS. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_POS_DELAY_MS, 210); + +/** + * Height estimate delay + * + * The delay in milliseconds of the height estimate from the barometer. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_HGT_DELAY_MS, 350); + +/** + * Mag estimate delay + * + * The delay in milliseconds of the magnetic field estimate from + * the magnetometer. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_MAG_DELAY_MS, 30); + +/** + * True airspeeed estimate delay + * + * The delay in milliseconds of the airspeed estimate. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210); + +/** + * GPS vs. barometric altitude update weight + * + * RE-CHECK this. + * + * @min 0.0 + * @max 1.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f); |