diff options
Diffstat (limited to 'src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | 22 |
1 files changed, 12 insertions, 10 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 3cfddf28e..bc0e3b93a 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -40,6 +40,7 @@ */ #include "attitude_estimator_ekf_params.h" +#include <math.h> /* Extended Kalman Filter covariances */ @@ -60,10 +61,10 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); /* offset estimation - UNUSED */ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f); -/* offsets in roll, pitch and yaw of sensor plane and body */ -PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f); -PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f); -PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f); +/* magnetic declination, in degrees */ +PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); + +PARAM_DEFINE_INT32(ATT_ACC_COMP, 2); int parameters_init(struct attitude_estimator_ekf_param_handles *h) { @@ -79,9 +80,9 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->r2 = param_find("EKF_ATT_V4_R2"); h->r3 = param_find("EKF_ATT_V4_R3"); - h->roll_off = param_find("ATT_ROLL_OFF3"); - h->pitch_off = param_find("ATT_PITCH_OFF3"); - h->yaw_off = param_find("ATT_YAW_OFF3"); + h->mag_decl = param_find("ATT_MAG_DECL"); + + h->acc_comp = param_find("ATT_ACC_COMP"); return OK; } @@ -99,9 +100,10 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->r2, &(p->r[2])); param_get(h->r3, &(p->r[3])); - param_get(h->roll_off, &(p->roll_off)); - param_get(h->pitch_off, &(p->pitch_off)); - param_get(h->yaw_off, &(p->yaw_off)); + param_get(h->mag_decl, &(p->mag_decl)); + p->mag_decl *= M_PI_F / 180.0f; + + param_get(h->acc_comp, &(p->acc_comp)); return OK; } |