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 | 19 |
1 files changed, 15 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 5b57bfb4d..5c33bc2ac 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -79,7 +79,6 @@ PARAM_DEFINE_FLOAT(ATT_J11, 0.0018); */ PARAM_DEFINE_FLOAT(ATT_J22, 0.0018); - /* * Moment of inertia matrix diagonal entry (3, 3) * @@ -88,6 +87,16 @@ PARAM_DEFINE_FLOAT(ATT_J22, 0.0018); */ PARAM_DEFINE_FLOAT(ATT_J33, 0.0037); +/* + * Moment of inertia enabled in estimator + * + * If set to != 0 the moment of inertia will be used in the estimator + * + * @group attitude_ekf + * @min 0 + * @max 1 + */ +PARAM_DEFINE_INT32(ATT_J_EN, 0); int parameters_init(struct attitude_estimator_ekf_param_handles *h) { @@ -105,9 +114,10 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->acc_comp = param_find("ATT_ACC_COMP"); - h->moment_inertia_J[0] = param_find("ATT_J11"); - h->moment_inertia_J[1] = param_find("ATT_J22"); - h->moment_inertia_J[2] = param_find("ATT_J33"); + h->moment_inertia_J[0] = param_find("ATT_J11"); + h->moment_inertia_J[1] = param_find("ATT_J22"); + h->moment_inertia_J[2] = param_find("ATT_J33"); + h->use_moment_inertia = param_find("ATT_J_EN"); return OK; } @@ -131,6 +141,7 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru for (int i = 0; i < 3; i++) { param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i])); } + param_get(h->use_moment_inertia, &(p->use_moment_inertia)); return OK; } |