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author | Anton Babushkin <anton.babushkin@me.com> | 2014-05-27 13:15:17 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-05-27 13:15:17 +0200 |
commit | 9a49636f6a6cfa631e8a4686e2cbb2f4e25770eb (patch) | |
tree | 2deb22728d63bb7c86b97eb559c55e10bd0ec876 /src/modules/position_estimator_inav/position_estimator_inav_params.c | |
parent | 36495cdb62e21b30a5a1851ec802c9f6a40c1171 (diff) | |
download | px4-firmware-9a49636f6a6cfa631e8a4686e2cbb2f4e25770eb.tar.gz px4-firmware-9a49636f6a6cfa631e8a4686e2cbb2f4e25770eb.tar.bz2 px4-firmware-9a49636f6a6cfa631e8a4686e2cbb2f4e25770eb.zip |
position_estimator_inav: remove acceleration from state and INAV_W_XXX_ACC parameters, more NaN checks
Diffstat (limited to 'src/modules/position_estimator_inav/position_estimator_inav_params.c')
-rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_params.c | 6 |
1 files changed, 0 insertions, 6 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index 2e4f26661..8aa08b6f2 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -42,11 +42,9 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f); PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f); -PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); -PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); @@ -62,11 +60,9 @@ int parameters_init(struct position_estimator_inav_param_handles *h) { h->w_z_baro = param_find("INAV_W_Z_BARO"); h->w_z_gps_p = param_find("INAV_W_Z_GPS_P"); - h->w_z_acc = param_find("INAV_W_Z_ACC"); h->w_z_sonar = param_find("INAV_W_Z_SONAR"); h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P"); h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V"); - h->w_xy_acc = param_find("INAV_W_XY_ACC"); h->w_xy_flow = param_find("INAV_W_XY_FLOW"); h->w_gps_flow = param_find("INAV_W_GPS_FLOW"); h->w_acc_bias = param_find("INAV_W_ACC_BIAS"); @@ -85,11 +81,9 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str { param_get(h->w_z_baro, &(p->w_z_baro)); param_get(h->w_z_gps_p, &(p->w_z_gps_p)); - param_get(h->w_z_acc, &(p->w_z_acc)); param_get(h->w_z_sonar, &(p->w_z_sonar)); param_get(h->w_xy_gps_p, &(p->w_xy_gps_p)); param_get(h->w_xy_gps_v, &(p->w_xy_gps_v)); - param_get(h->w_xy_acc, &(p->w_xy_acc)); param_get(h->w_xy_flow, &(p->w_xy_flow)); param_get(h->w_gps_flow, &(p->w_gps_flow)); param_get(h->w_acc_bias, &(p->w_acc_bias)); |