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| author | Lorenz Meier <lorenz@px4.io> | 2015-01-23 20:26:50 +0100 |
|---|---|---|
| committer | Lorenz Meier <lorenz@px4.io> | 2015-01-23 20:26:50 +0100 |
| commit | ba54deefc929ca670ae725cb772a8fe574f74742 (patch) | |
| tree | d54bac920277192c9df8e65308b9a4c3a14e943c /src/modules/position_estimator_inav/position_estimator_inav_params.c | |
| parent | b14e849fc4bcf81bbffd47064e2850a929652f6d (diff) | |
| parent | 0632d882bb734ac52ff5f7f5d1dc7930046e4600 (diff) | |
| download | px4-firmware-ba54deefc929ca670ae725cb772a8fe574f74742.tar.gz px4-firmware-ba54deefc929ca670ae725cb772a8fe574f74742.tar.bz2 px4-firmware-ba54deefc929ca670ae725cb772a8fe574f74742.zip | |
Merge pull request #1397 from dyeldandi/vz
Adding vertical (Z) velocity to inav estimator
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 | 12 |
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"); |