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author | Antonio Sanniravong <antonio.sanniravong@polymtl.ca> | 2014-06-24 07:47:16 -0400 |
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committer | Antonio Sanniravong <antonio.sanniravong@polymtl.ca> | 2014-06-24 07:47:16 -0400 |
commit | 179bace35aaa32a23ebd7a9cb99d54eae53690f5 (patch) | |
tree | 0cedb2a4469a2a6099f30ce2811452b65830f1f6 /src/modules/position_estimator_inav/position_estimator_inav_params.c | |
parent | 68442e31ac6970be91592282c9b70ebc76fa142d (diff) | |
download | px4-firmware-179bace35aaa32a23ebd7a9cb99d54eae53690f5.tar.gz px4-firmware-179bace35aaa32a23ebd7a9cb99d54eae53690f5.tar.bz2 px4-firmware-179bace35aaa32a23ebd7a9cb99d54eae53690f5.zip |
Resets XY velocities when we can't estimate them
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 d88419c25..b79e00274 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -46,6 +46,7 @@ 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_FLOW, 5.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_RESET_V, 0.2f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f); @@ -65,6 +66,7 @@ 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_flow = param_find("INAV_W_XY_FLOW"); + h->w_xy_reset_v = param_find("INAV_W_XY_RESET_V"); h->w_gps_flow = param_find("INAV_W_GPS_FLOW"); h->w_acc_bias = param_find("INAV_W_ACC_BIAS"); h->flow_k = param_find("INAV_FLOW_K"); @@ -87,6 +89,7 @@ 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_flow, &(p->w_xy_flow)); + param_get(h->w_xy_reset_v, &(p->w_xy_reset_v)); param_get(h->w_gps_flow, &(p->w_gps_flow)); param_get(h->w_acc_bias, &(p->w_acc_bias)); param_get(h->flow_k, &(p->flow_k)); |