diff options
Diffstat (limited to 'src/examples/flow_position_estimator/flow_position_estimator_params.c')
-rw-r--r-- | src/examples/flow_position_estimator/flow_position_estimator_params.c | 72 |
1 files changed, 72 insertions, 0 deletions
diff --git a/src/examples/flow_position_estimator/flow_position_estimator_params.c b/src/examples/flow_position_estimator/flow_position_estimator_params.c new file mode 100644 index 000000000..ec3c3352d --- /dev/null +++ b/src/examples/flow_position_estimator/flow_position_estimator_params.c @@ -0,0 +1,72 @@ +/**************************************************************************** + * + * Copyright (C) 2008-2013 PX4 Development Team. All rights reserved. + * Author: Samuel Zihlmann <samuezih@ee.ethz.ch> + * Lorenz Meier <lm@inf.ethz.ch> + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/* + * @file flow_position_estimator_params.c + * + * Parameters for position estimator + */ + +#include "flow_position_estimator_params.h" + +/* Extended Kalman Filter covariances */ + +/* controller parameters */ +PARAM_DEFINE_FLOAT(FPE_LO_THRUST, 0.4f); +PARAM_DEFINE_FLOAT(FPE_SONAR_LP_U, 0.5f); +PARAM_DEFINE_FLOAT(FPE_SONAR_LP_L, 0.2f); +PARAM_DEFINE_INT32(FPE_DEBUG, 0); + + +int parameters_init(struct flow_position_estimator_param_handles *h) +{ + /* PID parameters */ + h->minimum_liftoff_thrust = param_find("FPE_LO_THRUST"); + h->sonar_upper_lp_threshold = param_find("FPE_SONAR_LP_U"); + h->sonar_lower_lp_threshold = param_find("FPE_SONAR_LP_L"); + h->debug = param_find("FPE_DEBUG"); + + return OK; +} + +int parameters_update(const struct flow_position_estimator_param_handles *h, struct flow_position_estimator_params *p) +{ + param_get(h->minimum_liftoff_thrust, &(p->minimum_liftoff_thrust)); + param_get(h->sonar_upper_lp_threshold, &(p->sonar_upper_lp_threshold)); + param_get(h->sonar_lower_lp_threshold, &(p->sonar_lower_lp_threshold)); + param_get(h->debug, &(p->debug)); + + return OK; +} |