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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-23 22:39:54 +0100 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-23 22:39:54 +0100 |
commit | 482cada59ba87bc1ac538f7f165a57880e7fbeda (patch) | |
tree | cbc8939fb22e9aae5a0e7b0b39f52fad71285f5c /apps/position_estimator_mc/position_estimator_mc_params.h | |
parent | 0dc96dbd891cf108a4ecc01539f5f710c6dd92e9 (diff) | |
download | px4-firmware-482cada59ba87bc1ac538f7f165a57880e7fbeda.tar.gz px4-firmware-482cada59ba87bc1ac538f7f165a57880e7fbeda.tar.bz2 px4-firmware-482cada59ba87bc1ac538f7f165a57880e7fbeda.zip |
Butchered position estimator from Damian Aregger into shape, publishes now global position estimate as well. Compiling, needs HIL testing
Diffstat (limited to 'apps/position_estimator_mc/position_estimator_mc_params.h')
-rwxr-xr-x | apps/position_estimator_mc/position_estimator_mc_params.h | 69 |
1 files changed, 69 insertions, 0 deletions
diff --git a/apps/position_estimator_mc/position_estimator_mc_params.h b/apps/position_estimator_mc/position_estimator_mc_params.h new file mode 100755 index 000000000..c4c95f7b4 --- /dev/null +++ b/apps/position_estimator_mc/position_estimator_mc_params.h @@ -0,0 +1,69 @@ +/**************************************************************************** + * + * 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_mc_params.h + * + * Parameters for Position Estimator + */ + +#include <systemlib/param/param.h> + +struct position_estimator_mc_params { + float addNoise; + float sigma; + float R; + int baro; /* consider barometer */ +}; + +struct position_estimator_mc_param_handles { + param_t addNoise; + param_t sigma; + param_t r; + param_t baro_param_handle; +}; + +/** + * Initialize all parameter handles and values + * + */ +int parameters_init(struct position_estimator_mc_param_handles *h); + +/** + * Update all parameters + * + */ +int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p); |