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author | Anton Babushkin <anton.babushkin@me.com> | 2013-08-20 12:17:15 +0200 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-08-20 12:17:15 +0200 |
commit | db950f74893a108302a167729a91765269981e7b (patch) | |
tree | cee9d6aab6ef0037c5186f1a15d5432c1d198ced /src/modules/position_estimator_inav/position_estimator_inav_params.c | |
parent | de124619b6f64aafc10f1cdebef986a9e193b74b (diff) | |
download | px4-firmware-db950f74893a108302a167729a91765269981e7b.tar.gz px4-firmware-db950f74893a108302a167729a91765269981e7b.tar.bz2 px4-firmware-db950f74893a108302a167729a91765269981e7b.zip |
position_estimator_inav: "landed" detector implemented, bugfixes
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 | 11 |
1 files changed, 10 insertions, 1 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 801e20781..4f9ddd009 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -40,7 +40,7 @@ #include "position_estimator_inav_params.h" -PARAM_DEFINE_FLOAT(INAV_W_ALT_BARO, 1.0f); +PARAM_DEFINE_FLOAT(INAV_W_ALT_BARO, 0.5f); PARAM_DEFINE_FLOAT(INAV_W_ALT_ACC, 50.0f); PARAM_DEFINE_FLOAT(INAV_W_ALT_SONAR, 3.0f); PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_P, 1.0f); @@ -51,6 +51,9 @@ PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.0f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.0f); PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.02f); PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f); +PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f); +PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f); +PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f); int parameters_init(struct position_estimator_inav_param_handles *h) { @@ -65,6 +68,9 @@ int parameters_init(struct position_estimator_inav_param_handles *h) h->flow_k = param_find("INAV_FLOW_K"); h->sonar_filt = param_find("INAV_SONAR_FILT"); h->sonar_err = param_find("INAV_SONAR_ERR"); + h->land_t = param_find("INAV_LAND_T"); + h->land_disp = param_find("INAV_LAND_DISP"); + h->land_thr = param_find("INAV_LAND_THR"); return OK; } @@ -82,6 +88,9 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str param_get(h->flow_k, &(p->flow_k)); param_get(h->sonar_filt, &(p->sonar_filt)); param_get(h->sonar_err, &(p->sonar_err)); + param_get(h->land_t, &(p->land_t)); + param_get(h->land_disp, &(p->land_disp)); + param_get(h->land_thr, &(p->land_thr)); return OK; } |