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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-11-22 21:44:37 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-11-22 21:44:37 +0400 |
| commit | dada0b85998ac46a5b447e13a0c2f54819d07360 (patch) | |
| tree | 4c3a7b9057fe5ee25743f32f13499e2f126d3613 /src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | |
| parent | 4afb420bedf40de3b5b30929defd9a79b77aed32 (diff) | |
| download | px4-firmware-dada0b85998ac46a5b447e13a0c2f54819d07360.tar.gz px4-firmware-dada0b85998ac46a5b447e13a0c2f54819d07360.tar.bz2 px4-firmware-dada0b85998ac46a5b447e13a0c2f54819d07360.zip | |
attitude_estimator_ekf: mag declination parameter implemented
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 | 7 |
1 files changed, 7 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 52dac652b..a6a40b4a1 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -63,6 +63,9 @@ PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f); PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f); PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f); +/* magnetic declination, in degrees */ +PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); + int parameters_init(struct attitude_estimator_ekf_param_handles *h) { /* PID parameters */ @@ -81,6 +84,8 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->pitch_off = param_find("ATT_PITCH_OFF3"); h->yaw_off = param_find("ATT_YAW_OFF3"); + h->mag_decl = param_find("ATT_MAG_DECL"); + return OK; } @@ -101,5 +106,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->pitch_off, &(p->pitch_off)); param_get(h->yaw_off, &(p->yaw_off)); + param_get(h->mag_decl, &(p->mag_decl)); + return OK; } |