Exposed measurement noise covariance and process noise covariance as MAVLink parameters for attitude EKF

1 files changed, 64 insertions, 0 deletions

diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
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index 000000000..6a63f9767
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+++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.h
@@ -0,0 +1,64 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: Tobias Naegeli <naegelit@student.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
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/*
+ * @file attitude_estimator_ekf_params.h
+ * 
+ * Parameters for EKF filter
+ */
+
+#include <systemlib/param/param.h>
+
+struct attitude_estimator_ekf_params {
+	float r[9];
+	float q[12];
+};
+
+struct attitude_estimator_ekf_param_handles {
+	param_t r0, r1, r2, r3, r4, r5, r6, r7, r8;
+	param_t q0, q1, q2, q3, q4, q5, q6, q7, q8, q9, q10, q11;
+};
+
+/**
+ * Initialize all parameter handles and values
+ *
+ */
+int parameters_init(struct attitude_estimator_ekf_param_handles *h);
+
+/**
+ * Update all parameters
+ *
+ */
+int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p);