diff options
Diffstat (limited to 'src/modules/att_pos_estimator_ekf/params.c')
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/params.c | 41 |
1 files changed, 37 insertions, 4 deletions
diff --git a/src/modules/att_pos_estimator_ekf/params.c b/src/modules/att_pos_estimator_ekf/params.c index 50642f067..4af5edead 100644 --- a/src/modules/att_pos_estimator_ekf/params.c +++ b/src/modules/att_pos_estimator_ekf/params.c @@ -1,12 +1,45 @@ +/**************************************************************************** + * + * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. + * + * 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. + * + ****************************************************************************/ + #include <systemlib/param/param.h> /*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f); PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f); +PARAM_DEFINE_FLOAT(KF_R_MAG, 0.8f); +PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.5f); +PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 2.0f); +PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 3.0f); PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f); PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f); PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f); |