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| author | Anton Babushkin <rk3dov@gmail.com> | 2013-05-02 19:02:32 +0400 |
|---|---|---|
| committer | Anton Babushkin <rk3dov@gmail.com> | 2013-05-02 19:02:32 +0400 |
| commit | 861a21ef7559386d8301c6b8860a13ac2fc0ef64 (patch) | |
| tree | 18e15a70acdc8ad819b6faa6f1e300339ec7d78e /apps/position_estimator_inav/position_estimator_inav_params.c | |
| parent | 2b7e79cd21c30d373ee67d2f6470ae224135ae7f (diff) | |
| download | px4-firmware-861a21ef7559386d8301c6b8860a13ac2fc0ef64.tar.gz px4-firmware-861a21ef7559386d8301c6b8860a13ac2fc0ef64.tar.bz2 px4-firmware-861a21ef7559386d8301c6b8860a13ac2fc0ef64.zip | |
Position estimation using accel+GPS implemented
Diffstat (limited to 'apps/position_estimator_inav/position_estimator_inav_params.c')
| -rw-r--r-- | apps/position_estimator_inav/position_estimator_inav_params.c | 35 |
1 files changed, 27 insertions, 8 deletions
diff --git a/apps/position_estimator_inav/position_estimator_inav_params.c b/apps/position_estimator_inav/position_estimator_inav_params.c index bb2b01481..8466bcd0a 100644 --- a/apps/position_estimator_inav/position_estimator_inav_params.c +++ b/apps/position_estimator_inav/position_estimator_inav_params.c @@ -40,8 +40,6 @@ #include "position_estimator_inav_params.h" -/* Kalman Filter covariances */ -/* gps measurement noise standard deviation */ PARAM_DEFINE_INT32(INAV_USE_GPS, 0); PARAM_DEFINE_FLOAT(INAV_K_ALT_00, 0.0f); @@ -51,6 +49,13 @@ PARAM_DEFINE_FLOAT(INAV_K_ALT_11, 0.0f); PARAM_DEFINE_FLOAT(INAV_K_ALT_20, 0.0f); PARAM_DEFINE_FLOAT(INAV_K_ALT_21, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_POS_00, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_POS_01, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_POS_10, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_POS_11, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_POS_20, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_POS_21, 0.0f); + int parameters_init(struct position_estimator_inav_param_handles *h) { h->use_gps = param_find("INAV_USE_GPS"); @@ -61,18 +66,32 @@ int parameters_init(struct position_estimator_inav_param_handles *h) { h->k_alt_20 = param_find("INAV_K_ALT_20"); h->k_alt_21 = param_find("INAV_K_ALT_21"); + h->k_pos_00 = param_find("INAV_K_POS_00"); + h->k_pos_01 = param_find("INAV_K_POS_01"); + h->k_pos_10 = param_find("INAV_K_POS_10"); + h->k_pos_11 = param_find("INAV_K_POS_11"); + h->k_pos_20 = param_find("INAV_K_POS_20"); + h->k_pos_21 = param_find("INAV_K_POS_21"); + return OK; } int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p) { param_get(h->use_gps, &(p->use_gps)); - param_get(h->k_alt_00, &(p->k[0][0])); - param_get(h->k_alt_01, &(p->k[0][1])); - param_get(h->k_alt_10, &(p->k[1][0])); - param_get(h->k_alt_11, &(p->k[1][1])); - param_get(h->k_alt_20, &(p->k[2][0])); - param_get(h->k_alt_21, &(p->k[2][1])); + param_get(h->k_alt_00, &(p->k_alt[0][0])); + param_get(h->k_alt_01, &(p->k_alt[0][1])); + param_get(h->k_alt_10, &(p->k_alt[1][0])); + param_get(h->k_alt_11, &(p->k_alt[1][1])); + param_get(h->k_alt_20, &(p->k_alt[2][0])); + param_get(h->k_alt_21, &(p->k_alt[2][1])); + + param_get(h->k_pos_00, &(p->k_pos[0][0])); + param_get(h->k_pos_01, &(p->k_pos[0][1])); + param_get(h->k_pos_10, &(p->k_pos[1][0])); + param_get(h->k_pos_11, &(p->k_pos[1][1])); + param_get(h->k_pos_20, &(p->k_pos[2][0])); + param_get(h->k_pos_21, &(p->k_pos[2][1])); return OK; } |