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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-01 13:45:50 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-07-01 13:45:50 +0200 |
| commit | 8f957aeb5f8f7527d1ef2a5583f4de7870c60513 (patch) | |
| tree | a338b1f20419d7fc295175542ca384046356a0d4 /src/modules/position_estimator_inav/position_estimator_inav_params.c | |
| parent | 545e207d13541c1f36325fcfa0f847d5f78ff4e3 (diff) | |
| parent | 7a45888e78b4af0c04014c20e579797b2040edf8 (diff) | |
| download | px4-firmware-8f957aeb5f8f7527d1ef2a5583f4de7870c60513.tar.gz px4-firmware-8f957aeb5f8f7527d1ef2a5583f4de7870c60513.tar.bz2 px4-firmware-8f957aeb5f8f7527d1ef2a5583f4de7870c60513.zip | |
Merge pull request #1074 from t0ni0/reset_xy_v
INAV: Reset XY velocities when we can't estimate them
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 | 3 |
1 files changed, 3 insertions, 0 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 d88419c25..0581f8236 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -46,6 +46,7 @@ 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_FLOW, 5.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f); @@ -65,6 +66,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h) 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_flow = param_find("INAV_W_XY_FLOW"); + h->w_xy_res_v = param_find("INAV_W_XY_RES_V"); h->w_gps_flow = param_find("INAV_W_GPS_FLOW"); h->w_acc_bias = param_find("INAV_W_ACC_BIAS"); h->flow_k = param_find("INAV_FLOW_K"); @@ -87,6 +89,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str 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_flow, &(p->w_xy_flow)); + param_get(h->w_xy_res_v, &(p->w_xy_res_v)); param_get(h->w_gps_flow, &(p->w_gps_flow)); param_get(h->w_acc_bias, &(p->w_acc_bias)); param_get(h->flow_k, &(p->flow_k)); |