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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-10-05 23:00:25 +0200 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-10-05 23:00:25 +0200 |
| commit | d005815c686da64a21d9230150d451da96756a44 (patch) | |
| tree | 5cf55a28b273f7b95bebf926ee78e1d95213c0c9 /src/modules/position_estimator_inav/position_estimator_inav_params.c | |
| parent | defb37c43bd3f2d4de35def68a092731ed77d0d5 (diff) | |
| download | px4-firmware-d005815c686da64a21d9230150d451da96756a44.tar.gz px4-firmware-d005815c686da64a21d9230150d451da96756a44.tar.bz2 px4-firmware-d005815c686da64a21d9230150d451da96756a44.zip | |
position_estimator_inav: major update, using optical flow for position estimation
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 | 9 |
1 files changed, 6 insertions, 3 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 4f9ddd009..b3c32b180 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -41,14 +41,15 @@ #include "position_estimator_inav_params.h" PARAM_DEFINE_FLOAT(INAV_W_ALT_BARO, 0.5f); -PARAM_DEFINE_FLOAT(INAV_W_ALT_ACC, 50.0f); +PARAM_DEFINE_FLOAT(INAV_W_ALT_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_ALT_SONAR, 3.0f); 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, 0.0f); +PARAM_DEFINE_FLOAT(INAV_W_POS_FLOW, 5.0f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.0f); -PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.0f); +PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.0165f); +PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f); PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.02f); PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f); PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f); @@ -66,6 +67,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h) h->w_pos_flow = param_find("INAV_W_POS_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"); h->sonar_filt = param_find("INAV_SONAR_FILT"); h->sonar_err = param_find("INAV_SONAR_ERR"); h->land_t = param_find("INAV_LAND_T"); @@ -86,6 +88,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str param_get(h->w_pos_flow, &(p->w_pos_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)); param_get(h->sonar_filt, &(p->sonar_filt)); param_get(h->sonar_err, &(p->sonar_err)); param_get(h->land_t, &(p->land_t)); |