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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.c8
1 files changed, 6 insertions, 2 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 0581f8236..0d9fbef27 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -1,7 +1,6 @@
/****************************************************************************
*
- * Copyright (C) 2013 Anton Babushkin. All rights reserved.
- * Author: Anton Babushkin <rk3dov@gmail.com>
+ * 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
@@ -35,6 +34,8 @@
/*
* @file position_estimator_inav_params.c
*
+ * @author Anton Babushkin <rk3dov@gmail.com>
+ *
* Parameters for position_estimator_inav
*/
@@ -56,6 +57,7 @@ PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
+PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
int parameters_init(struct position_estimator_inav_param_handles *h)
@@ -76,6 +78,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
h->land_t = param_find("INAV_LAND_T");
h->land_disp = param_find("INAV_LAND_DISP");
h->land_thr = param_find("INAV_LAND_THR");
+ h->no_vision = param_find("CBRK_NO_VISION");
h->delay_gps = param_find("INAV_DELAY_GPS");
return OK;
@@ -99,6 +102,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str
param_get(h->land_t, &(p->land_t));
param_get(h->land_disp, &(p->land_disp));
param_get(h->land_thr, &(p->land_thr));
+ param_get(h->no_vision, &(p->no_vision));
param_get(h->delay_gps, &(p->delay_gps));
return OK;