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author | ggregory8 <glenn.gregory8@gmail.com> | 2014-07-22 14:00:49 +0800 |
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committer | ggregory8 <glenn.gregory8@gmail.com> | 2014-07-22 14:00:49 +0800 |
commit | dd0e39972fb5a8e4b881e71d8bdb53e1ce82e380 (patch) | |
tree | b354850dd4e6cd52cc3a65ee0c42b5fcba683043 /src/modules/position_estimator_inav/position_estimator_inav_params.c | |
parent | a063f58e006689bee2e28d85930cba11245b9597 (diff) | |
download | px4-firmware-dd0e39972fb5a8e4b881e71d8bdb53e1ce82e380.tar.gz px4-firmware-dd0e39972fb5a8e4b881e71d8bdb53e1ce82e380.tar.bz2 px4-firmware-dd0e39972fb5a8e4b881e71d8bdb53e1ce82e380.zip |
Add weight parameter for vision velocity
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 36e556756..1867f65da 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -48,6 +48,7 @@ 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_VISION_P, 5.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_VISION_V, 0.0f); 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); @@ -71,6 +72,7 @@ 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_vision_p = param_find("INAV_W_XY_VISION_P"); + h->w_xy_vision_v = param_find("INAV_W_XY_VISION_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"); @@ -97,6 +99,7 @@ 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_vision_p, &(p->w_xy_vision_p)); + param_get(h->w_xy_vision_v, &(p->w_xy_vision_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)); |