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author | Anton Babushkin <anton.babushkin@me.com> | 2013-05-17 12:23:48 +0400 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2013-05-17 12:23:48 +0400 |
commit | eb2fc4e036e2a79228dd57e74de00828d5a4d950 (patch) | |
tree | 5cdcb80c0e1660928e5c72cf69fe81397d471dd6 /src/modules/position_estimator_inav/position_estimator_inav_params.c | |
parent | 861a21ef7559386d8301c6b8860a13ac2fc0ef64 (diff) | |
parent | fa816d0fd65da461fd5bf8803cf00caebaf23c5c (diff) | |
download | px4-firmware-eb2fc4e036e2a79228dd57e74de00828d5a4d950.tar.gz px4-firmware-eb2fc4e036e2a79228dd57e74de00828d5a4d950.tar.bz2 px4-firmware-eb2fc4e036e2a79228dd57e74de00828d5a4d950.zip |
Merge branch 'master' into seatbelt_multirotor
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 | 97 |
1 files changed, 97 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 new file mode 100644 index 000000000..8466bcd0a --- /dev/null +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * Copyright (C) 2013 Anton Babushkin. All rights reserved. + * Author: Anton Babushkin <rk3dov@gmail.com> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file position_estimator_inav_params.c + * + * Parameters for position_estimator_inav + */ + +#include "position_estimator_inav_params.h" + +PARAM_DEFINE_INT32(INAV_USE_GPS, 0); + +PARAM_DEFINE_FLOAT(INAV_K_ALT_00, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_ALT_01, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_ALT_10, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_ALT_11, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_ALT_20, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_ALT_21, 0.0f); + +PARAM_DEFINE_FLOAT(INAV_K_POS_00, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_POS_01, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_POS_10, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_POS_11, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_POS_20, 0.0f); +PARAM_DEFINE_FLOAT(INAV_K_POS_21, 0.0f); + +int parameters_init(struct position_estimator_inav_param_handles *h) { + h->use_gps = param_find("INAV_USE_GPS"); + + h->k_alt_00 = param_find("INAV_K_ALT_00"); + h->k_alt_01 = param_find("INAV_K_ALT_01"); + h->k_alt_10 = param_find("INAV_K_ALT_10"); + h->k_alt_11 = param_find("INAV_K_ALT_11"); + h->k_alt_20 = param_find("INAV_K_ALT_20"); + h->k_alt_21 = param_find("INAV_K_ALT_21"); + + h->k_pos_00 = param_find("INAV_K_POS_00"); + h->k_pos_01 = param_find("INAV_K_POS_01"); + h->k_pos_10 = param_find("INAV_K_POS_10"); + h->k_pos_11 = param_find("INAV_K_POS_11"); + h->k_pos_20 = param_find("INAV_K_POS_20"); + h->k_pos_21 = param_find("INAV_K_POS_21"); + + return OK; +} + +int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p) { + param_get(h->use_gps, &(p->use_gps)); + + param_get(h->k_alt_00, &(p->k_alt[0][0])); + param_get(h->k_alt_01, &(p->k_alt[0][1])); + param_get(h->k_alt_10, &(p->k_alt[1][0])); + param_get(h->k_alt_11, &(p->k_alt[1][1])); + param_get(h->k_alt_20, &(p->k_alt[2][0])); + param_get(h->k_alt_21, &(p->k_alt[2][1])); + + param_get(h->k_pos_00, &(p->k_pos[0][0])); + param_get(h->k_pos_01, &(p->k_pos[0][1])); + param_get(h->k_pos_10, &(p->k_pos[1][0])); + param_get(h->k_pos_11, &(p->k_pos[1][1])); + param_get(h->k_pos_20, &(p->k_pos[2][0])); + param_get(h->k_pos_21, &(p->k_pos[2][1])); + + return OK; +} |