Merge branch 'master' into seatbelt_multirotor

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;
+}