diff options
Diffstat (limited to 'src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c')
-rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c | 248 |
1 files changed, 0 insertions, 248 deletions
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c deleted file mode 100644 index 9d01a095c..000000000 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c +++ /dev/null @@ -1,248 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2013, 2014 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. - * - ****************************************************************************/ - -/** - * @file fw_att_pos_estimator_params.c - * - * Parameters defined by the attitude and position estimator task - * - * @author Lorenz Meier <lm@inf.ethz.ch> - */ - -#include <nuttx/config.h> - -#include <systemlib/param/param.h> - -/* - * Estimator parameters, accessible via MAVLink - * - */ - -/** - * Velocity estimate delay - * - * The delay in milliseconds of the velocity estimate from GPS. - * - * @min 0 - * @max 1000 - * @group Position Estimator - */ -PARAM_DEFINE_INT32(PE_VEL_DELAY_MS, 230); - -/** - * Position estimate delay - * - * The delay in milliseconds of the position estimate from GPS. - * - * @min 0 - * @max 1000 - * @group Position Estimator - */ -PARAM_DEFINE_INT32(PE_POS_DELAY_MS, 210); - -/** - * Height estimate delay - * - * The delay in milliseconds of the height estimate from the barometer. - * - * @min 0 - * @max 1000 - * @group Position Estimator - */ -PARAM_DEFINE_INT32(PE_HGT_DELAY_MS, 350); - -/** - * Mag estimate delay - * - * The delay in milliseconds of the magnetic field estimate from - * the magnetometer. - * - * @min 0 - * @max 1000 - * @group Position Estimator - */ -PARAM_DEFINE_INT32(PE_MAG_DELAY_MS, 30); - -/** - * True airspeeed estimate delay - * - * The delay in milliseconds of the airspeed estimate. - * - * @min 0 - * @max 1000 - * @group Position Estimator - */ -PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210); - -/** - * GPS vs. barometric altitude update weight - * - * RE-CHECK this. - * - * @min 0.0 - * @max 1.0 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f); - -/** - * Velocity noise in north-east (horizontal) direction. - * - * Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 - * - * @min 0.05 - * @max 5.0 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f); - -/** - * Velocity noise in down (vertical) direction - * - * Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7 - * - * @min 0.05 - * @max 5.0 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.5f); - -/** - * Position noise in north-east (horizontal) direction - * - * Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 - * - * @min 0.1 - * @max 10.0 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f); - -/** - * Position noise in down (vertical) direction - * - * Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0 - * - * @min 0.1 - * @max 10.0 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f); - -/** - * Magnetometer measurement noise - * - * Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 - * - * @min 0.1 - * @max 10.0 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_MAG_NOISE, 0.05f); - -/** - * Gyro process noise - * - * Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. - * This noise controls how much the filter trusts the gyro measurements. - * Increasing it makes the filter trust the gyro less and other sensors more. - * - * @min 0.001 - * @max 0.05 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_GYRO_PNOISE, 0.015f); - -/** - * Accelerometer process noise - * - * Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. - * Increasing this value makes the filter trust the accelerometer less - * and other sensors more. - * - * @min 0.05 - * @max 1.0 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f); - -/** - * Gyro bias estimate process noise - * - * Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. - * Increasing this value will make the gyro bias converge faster but noisier. - * - * @min 0.0000001 - * @max 0.00001 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f); - -/** - * Accelerometer bias estimate process noise - * - * Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f. - * Increasing this value makes the bias estimation faster and noisier. - * - * @min 0.0001 - * @max 0.001 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0001f); - -/** - * Magnetometer earth frame offsets process noise - * - * Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. - * Increasing this value makes the magnetometer earth bias estimate converge - * faster but also noisier. - * - * @min 0.0001 - * @max 0.01 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f); - -/** - * Magnetometer body frame offsets process noise - * - * Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. - * Increasing this value makes the magnetometer body bias estimate converge faster - * but also noisier. - * - * @min 0.0001 - * @max 0.01 - * @group Position Estimator - */ -PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f); 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