diff options
Diffstat (limited to 'src/modules/position_estimator_inav/position_estimator_inav_params.c')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_params.c | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index c90c611a7..70248b3b7 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -44,10 +44,11 @@ PARAM_DEFINE_INT32(INAV_USE_GPS, 1); PARAM_DEFINE_FLOAT(INAV_W_ALT_BARO, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_ALT_ACC, 50.0f); PARAM_DEFINE_FLOAT(INAV_W_ALT_SONAR, 3.0f); -PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_P, 4.0f); -PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 0.0f); +PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_P, 1.0f); +PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 2.0f); PARAM_DEFINE_FLOAT(INAV_W_POS_ACC, 10.0f); -PARAM_DEFINE_FLOAT(INAV_W_POS_FLOW, 10.0f); +PARAM_DEFINE_FLOAT(INAV_W_POS_FLOW, 0.0f); +PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.0f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.0f); PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.02f); PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f); @@ -62,6 +63,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h) h->w_pos_gps_v = param_find("INAV_W_POS_GPS_V"); h->w_pos_acc = param_find("INAV_W_POS_ACC"); h->w_pos_flow = param_find("INAV_W_POS_FLOW"); + h->w_acc_bias = param_find("INAV_W_ACC_BIAS"); h->flow_k = param_find("INAV_FLOW_K"); h->sonar_filt = param_find("INAV_SONAR_FILT"); h->sonar_err = param_find("INAV_SONAR_ERR"); @@ -79,6 +81,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str param_get(h->w_pos_gps_v, &(p->w_pos_gps_v)); param_get(h->w_pos_acc, &(p->w_pos_acc)); param_get(h->w_pos_flow, &(p->w_pos_flow)); + param_get(h->w_acc_bias, &(p->w_acc_bias)); param_get(h->flow_k, &(p->flow_k)); param_get(h->sonar_filt, &(p->sonar_filt)); param_get(h->sonar_err, &(p->sonar_err)); |