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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-10-12 11:20:20 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-10-12 11:20:20 +0200 |
| commit | c0c366d6ee076ca812fa9672709c1e66fafdb32b (patch) | |
| tree | 60fe69c7e1279d5adedecf9a81ef136aa110b62f /src/modules/position_estimator_inav/position_estimator_inav_params.c | |
| parent | 2b1a11b16dd77a5b2a427e7a32a2e398b249ebad (diff) | |
| download | px4-firmware-c0c366d6ee076ca812fa9672709c1e66fafdb32b.tar.gz px4-firmware-c0c366d6ee076ca812fa9672709c1e66fafdb32b.tar.bz2 px4-firmware-c0c366d6ee076ca812fa9672709c1e66fafdb32b.zip | |
position_estimator_inav: estimate distance to bottom rate, increase time of position estimation on only accelerometer, reduce weight for GPS if flow available
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 b3c32b180..0a00ae6bb 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -47,6 +47,7 @@ PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_P, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 2.0f); PARAM_DEFINE_FLOAT(INAV_W_POS_ACC, 10.0f); PARAM_DEFINE_FLOAT(INAV_W_POS_FLOW, 5.0f); +PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.0f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.0165f); PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f); @@ -65,6 +66,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h) h->w_pos_gps_v = param_find("INAV_W_POS_GPS_V"); h->w_pos_acc = param_find("INAV_W_POS_ACC"); h->w_pos_flow = param_find("INAV_W_POS_FLOW"); + 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"); h->flow_q_min = param_find("INAV_FLOW_Q_MIN"); @@ -86,6 +88,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str param_get(h->w_pos_gps_v, &(p->w_pos_gps_v)); param_get(h->w_pos_acc, &(p->w_pos_acc)); param_get(h->w_pos_flow, &(p->w_pos_flow)); + 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)); param_get(h->flow_q_min, &(p->flow_q_min)); |