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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-06 14:33:58 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-06 14:33:58 +0100 |
| commit | 63815909979d8b01738a18bd694afcf2bc11c3a3 (patch) | |
| tree | 5bd91e8e14b3f0c64e9f0cb00a9b654328d70ef1 /src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | |
| parent | c094a1a33da61e00bbb2eca2dc8e19b18b1c603a (diff) | |
| download | px4-firmware-63815909979d8b01738a18bd694afcf2bc11c3a3.tar.gz px4-firmware-63815909979d8b01738a18bd694afcf2bc11c3a3.tar.bz2 px4-firmware-63815909979d8b01738a18bd694afcf2bc11c3a3.zip | |
attitude_estimator_ekf: acc compensation improvements
Diffstat (limited to 'src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 999446a47..44f47b47c 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -68,6 +68,8 @@ PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f); /* magnetic declination, in degrees */ PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); +PARAM_DEFINE_INT32(ATT_ACC_COMP, 0); + int parameters_init(struct attitude_estimator_ekf_param_handles *h) { /* PID parameters */ @@ -88,6 +90,8 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->mag_decl = param_find("ATT_MAG_DECL"); + h->acc_comp = param_find("ATT_ACC_COMP"); + return OK; } @@ -110,5 +114,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->mag_decl, &(p->mag_decl)); + param_get(h->acc_comp, &(p->acc_comp)); + return OK; } |