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| author | Andreas Antener <antener_a@gmx.ch> | 2015-05-06 11:37:02 +0200 |
|---|---|---|
| committer | Andreas Antener <antener_a@gmx.ch> | 2015-05-06 11:37:02 +0200 |
| commit | 95803a774aa4bedf2938b476db68d437e0b7a45d (patch) | |
| tree | 5a0b0aad1d0fd82e138bee74a5a7da0303c599ba /src | |
| parent | 9892f12d2e2d1655792429a214efb3cdd5314542 (diff) | |
| download | px4-firmware-95803a774aa4bedf2938b476db68d437e0b7a45d.tar.gz px4-firmware-95803a774aa4bedf2938b476db68d437e0b7a45d.tar.bz2 px4-firmware-95803a774aa4bedf2938b476db68d437e0b7a45d.zip | |
update param docs, change default back to old ekf for inav based estimation
Diffstat (limited to 'src')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | 14 | ||||
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_params.c | 4 |
2 files changed, 14 insertions, 4 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 7eb1baeae..e981c6eb7 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -94,8 +94,18 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f); */ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); -/* magnetic declination, in degrees */ -PARAM_DEFINE_INT32(EKF_ATT_ENABLED, 0); +/** + * EKF attitude estimator enabled + * + * If enabled, it uses the older EKF filter. + * However users can enable the new quaternion + * based complimentary filter by setting EKF_ATT_ENABLED = 0. + * + * @min 0 + * @max 1 + * @group Attitude EKF estimator + */ +PARAM_DEFINE_INT32(EKF_ATT_ENABLED, 1); /* magnetic declination, in degrees */ PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); 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 aedb478fa..96b12f9e0 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -291,8 +291,8 @@ PARAM_DEFINE_INT32(CBRK_NO_VISION, 0); /** * INAV enabled * - * If set to 1, use INAV for position estimation - * the system uses the combined attitude / position + * If set to 1, use INAV for position estimation. + * Else the system uses the combined attitude / position * filter framework. * * @min 0 |