Merged multirotor branch

1 files changed, 96 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..4f9ddd009
--- /dev/null
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -0,0 +1,96 @@
+/****************************************************************************
+ *
+ *   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_FLOAT(INAV_W_ALT_BARO, 0.5f);
+PARAM_DEFINE_FLOAT(INAV_W_ALT_ACC, 50.0f);
+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_ACC_BIAS, 0.0f);
+PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.0f);
+PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.02f);
+PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
+PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
+PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
+PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.3f);
+
+int parameters_init(struct position_estimator_inav_param_handles *h)
+{
+	h->w_alt_baro = param_find("INAV_W_ALT_BARO");
+	h->w_alt_acc = param_find("INAV_W_ALT_ACC");
+	h->w_alt_sonar = param_find("INAV_W_ALT_SONAR");
+	h->w_pos_gps_p = param_find("INAV_W_POS_GPS_P");
+	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_acc_bias = param_find("INAV_W_ACC_BIAS");
+	h->flow_k = param_find("INAV_FLOW_K");
+	h->sonar_filt = param_find("INAV_SONAR_FILT");
+	h->sonar_err = param_find("INAV_SONAR_ERR");
+	h->land_t = param_find("INAV_LAND_T");
+	h->land_disp = param_find("INAV_LAND_DISP");
+	h->land_thr = param_find("INAV_LAND_THR");
+
+	return OK;
+}
+
+int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p)
+{
+	param_get(h->w_alt_baro, &(p->w_alt_baro));
+	param_get(h->w_alt_acc, &(p->w_alt_acc));
+	param_get(h->w_alt_sonar, &(p->w_alt_sonar));
+	param_get(h->w_pos_gps_p, &(p->w_pos_gps_p));
+	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_acc_bias, &(p->w_acc_bias));
+	param_get(h->flow_k, &(p->flow_k));
+	param_get(h->sonar_filt, &(p->sonar_filt));
+	param_get(h->sonar_err, &(p->sonar_err));
+	param_get(h->land_t, &(p->land_t));
+	param_get(h->land_disp, &(p->land_disp));
+	param_get(h->land_thr, &(p->land_thr));
+
+	return OK;
+}