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author | Anton <rk3dov@gmail.com> | 2013-03-27 16:12:29 +0400 |
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committer | Anton <rk3dov@gmail.com> | 2013-03-27 17:45:51 +0400 |
commit | 83e356fda41b0936d924e4e74673789bfdd0b29c (patch) | |
tree | d0ee7ef0ff5a8e8fdb8ec07907eaf47d8e3d66b7 /apps/position_estimator_inav/position_estimator_inav_params.c | |
parent | 0dc96dbd891cf108a4ecc01539f5f710c6dd92e9 (diff) | |
download | px4-firmware-83e356fda41b0936d924e4e74673789bfdd0b29c.tar.gz px4-firmware-83e356fda41b0936d924e4e74673789bfdd0b29c.tar.bz2 px4-firmware-83e356fda41b0936d924e4e74673789bfdd0b29c.zip |
Initial version of position_estimator_inav added
Diffstat (limited to 'apps/position_estimator_inav/position_estimator_inav_params.c')
-rw-r--r-- | apps/position_estimator_inav/position_estimator_inav_params.c | 59 |
1 files changed, 59 insertions, 0 deletions
diff --git a/apps/position_estimator_inav/position_estimator_inav_params.c b/apps/position_estimator_inav/position_estimator_inav_params.c new file mode 100644 index 000000000..5567fd2cf --- /dev/null +++ b/apps/position_estimator_inav/position_estimator_inav_params.c @@ -0,0 +1,59 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Author: Damian Aregger <daregger@student.ethz.ch> + * 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 position_estimator_inav_params.c + * + * Parameters for position_estimator_inav + */ + +#include "position_estimator_inav_params.h" + +/* Kalman Filter covariances */ +/* gps measurement noise standard deviation */ +PARAM_DEFINE_FLOAT(POS_EST_R, 1.0f); + +int parameters_init(struct position_estimator_inav_param_handles *h) +{ + h->r = param_find("POS_EST_R"); + return OK; +} + +int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p) +{ + param_get(h->r, &(p->r)); + return OK; +} |