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 | 7 |
1 files changed, 7 insertions, 0 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 52dac652b..a6a40b4a1 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -63,6 +63,9 @@ 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); + int parameters_init(struct attitude_estimator_ekf_param_handles *h) { /* PID parameters */ @@ -81,6 +84,8 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->pitch_off = param_find("ATT_PITCH_OFF3"); h->yaw_off = param_find("ATT_YAW_OFF3"); + h->mag_decl = param_find("ATT_MAG_DECL"); + return OK; } @@ -101,5 +106,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->pitch_off, &(p->pitch_off)); param_get(h->yaw_off, &(p->yaw_off)); + param_get(h->mag_decl, &(p->mag_decl)); + return OK; } |