From f3b0b41a0d3848c37b2533424b4501a84ef821ec Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 1 Mar 2015 18:05:22 +0100
Subject: Make INAV configurable

---
 .../position_estimator_inav_params.c                       | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

(limited to 'src/modules/position_estimator_inav')

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 5387b7e87..91915fb53 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -288,6 +288,20 @@ PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
  */
 PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
 
+/**
+ * INAV enabled
+ *
+ * If set to 1, use INAV for position estimation
+ * the system uses the compined attitude / position
+ * filter framework.
+ *
+ * @min 0.0
+ * @max 1.0
+ * @unit s
+ * @group Position Estimator INAV
+ */
+PARAM_DEFINE_INT32(INAV_ENABLED, 0);
+
 int parameters_init(struct position_estimator_inav_param_handles *h)
 {
 	h->w_z_baro = param_find("INAV_W_Z_BARO");
-- 
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