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authorThomas Gubler <thomasgubler@gmail.com>2015-01-28 16:29:14 +0100
committerThomas Gubler <thomasgubler@gmail.com>2015-01-28 16:29:14 +0100
commit2728889f7886e3ab2fea16941d29e60ece0d4449 (patch)
treeca9994d71205731ee4bb404175c2cf8f13fcc539 /src/modules/position_estimator_inav/position_estimator_inav_params.c
parentf23e603d02ba416ae250770cdaad6a859d6bae69 (diff)
parent1dcc5c49cc75778bcdde770f2d6c2700dd2bec2e (diff)
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Merge remote-tracking branch 'upstream/master' into ros_messagelayer_merge_attctlposctl
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.c12
1 files changed, 12 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 b7f6509d7..5387b7e87 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -64,6 +64,17 @@ PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
/**
+ * Z velocity weight for GPS
+ *
+ * Weight (cutoff frequency) for GPS altitude velocity measurements.
+ *
+ * @min 0.0
+ * @max 10.0
+ * @group Position Estimator INAV
+ */
+PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_V, 0.0f);
+
+/**
* Z axis weight for vision
*
* Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.
@@ -281,6 +292,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
{
h->w_z_baro = param_find("INAV_W_Z_BARO");
h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
+ h->w_z_gps_v = param_find("INAV_W_Z_GPS_V");
h->w_z_vision_p = param_find("INAV_W_Z_VIS_P");
h->w_z_sonar = param_find("INAV_W_Z_SONAR");
h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");