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author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-04 15:33:39 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-04 15:33:39 +0200 |
commit | 67a2c8a173819018ba2155688aa2a7bb682d8a77 (patch) | |
tree | b3cf26e1ac002c3eb144ee50254b874bc5f0b506 /apps/multirotor_pos_control/multirotor_pos_control_params.c | |
parent | 607e902b886b39b5e9b58999dee97c2ea8938151 (diff) | |
download | px4-firmware-67a2c8a173819018ba2155688aa2a7bb682d8a77.tar.gz px4-firmware-67a2c8a173819018ba2155688aa2a7bb682d8a77.tar.bz2 px4-firmware-67a2c8a173819018ba2155688aa2a7bb682d8a77.zip |
Added controller parameters, added vicon position reading
Diffstat (limited to 'apps/multirotor_pos_control/multirotor_pos_control_params.c')
-rw-r--r-- | apps/multirotor_pos_control/multirotor_pos_control_params.c | 62 |
1 files changed, 62 insertions, 0 deletions
diff --git a/apps/multirotor_pos_control/multirotor_pos_control_params.c b/apps/multirotor_pos_control/multirotor_pos_control_params.c new file mode 100644 index 000000000..6b73dc405 --- /dev/null +++ b/apps/multirotor_pos_control/multirotor_pos_control_params.c @@ -0,0 +1,62 @@ +/**************************************************************************** + * + * 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 multirotor_position_control_params.c + * + * Parameters for EKF filter + */ + +#include "multirotor_pos_control_params.h" + +/* Extended Kalman Filter covariances */ + +/* controller parameters */ +PARAM_DEFINE_FLOAT(MC_POS_P, 0.2f); + +int parameters_init(struct multirotor_position_control_param_handles *h) +{ + /* PID parameters */ + h->p = param_find("MC_POS_P"); + + return OK; +} + +int parameters_update(const struct multirotor_position_control_param_handles *h, struct multirotor_position_control_params *p) +{ + param_get(h->p, &(p->p)); + + return OK; +} |