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| author | Anton Babushkin <anton.babushkin@me.com> | 2013-06-28 12:58:12 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2013-06-28 12:58:12 +0400 |
| commit | 8e732fc52763a05739e4f13caf0dff84817839cd (patch) | |
| tree | ec80ef0d60a7026363b72a5db2bb72b7040beee8 /src/modules/position_estimator_inav | |
| parent | 7b73df6440987f2fea3dcdce135c27e02d98bda6 (diff) | |
| download | px4-firmware-8e732fc52763a05739e4f13caf0dff84817839cd.tar.gz px4-firmware-8e732fc52763a05739e4f13caf0dff84817839cd.tar.bz2 px4-firmware-8e732fc52763a05739e4f13caf0dff84817839cd.zip | |
position_estimator_inav default parameters changed, some fixes
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 1 | ||||
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_params.c | 2 |
2 files changed, 2 insertions, 1 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index fb09948ec..428269e4a 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -391,6 +391,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) mavlink_log_info(mavlink_fd, "[inav] new home: alt = %.3f", baro_alt0); local_pos.home_alt = baro_alt0; local_pos.home_timestamp = hrt_absolute_time(); + z_est[0] += sonar_corr; sonar_corr = 0.0f; sonar_corr_filtered = 0.0; } 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 eac2fc1ce..c90c611a7 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -49,7 +49,7 @@ PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 0.0f); PARAM_DEFINE_FLOAT(INAV_W_POS_ACC, 10.0f); PARAM_DEFINE_FLOAT(INAV_W_POS_FLOW, 10.0f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.0f); -PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.5f); +PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.02f); PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f); int parameters_init(struct position_estimator_inav_param_handles *h) |