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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 14:16:34 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 14:16:34 +0200 |
commit | 76a30108d2eab6a65f5fc92e2f9550d25ad5656c (patch) | |
tree | c2a092c7a0e3d1ef204a71535dffd85c1ef992ed /src/modules/att_pos_estimator_ekf/params.c | |
parent | 5974c37abba562c1372beb04490014db274fd175 (diff) | |
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Moved James Gopperts EKF to the new world
Diffstat (limited to 'src/modules/att_pos_estimator_ekf/params.c')
-rw-r--r-- | src/modules/att_pos_estimator_ekf/params.c | 16 |
1 files changed, 16 insertions, 0 deletions
diff --git a/src/modules/att_pos_estimator_ekf/params.c b/src/modules/att_pos_estimator_ekf/params.c new file mode 100644 index 000000000..50642f067 --- /dev/null +++ b/src/modules/att_pos_estimator_ekf/params.c @@ -0,0 +1,16 @@ +#include <systemlib/param/param.h> + +/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ +PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f); +PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f); +PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f); +PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f); +PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f); +PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f); +PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f); +PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f); +PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f); +PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f); +PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f); +PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f); +PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f); |