/****************************************************************************
 *
 *   Copyright (C) 2008-2013 PX4 Development Team. All rights reserved.
 *   Author: Samuel Zihlmann <samuezih@ee.ethz.ch>
 *   		 Lorenz Meier <lm@inf.ethz.ch>
 *
 * 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,
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 ****************************************************************************/

/*
 * @file flow_position_estimator_params.c
 *
 * Parameters for position estimator
 */

#include "flow_position_estimator_params.h"

/* Extended Kalman Filter covariances */

/* controller parameters */
PARAM_DEFINE_FLOAT(FPE_LO_THRUST, 0.4f);
PARAM_DEFINE_FLOAT(FPE_SONAR_LP_U, 0.5f);
PARAM_DEFINE_FLOAT(FPE_SONAR_LP_L, 0.2f);
PARAM_DEFINE_INT32(FPE_DEBUG, 0);


int parameters_init(struct flow_position_estimator_param_handles *h)
{
	/* PID parameters */
	h->minimum_liftoff_thrust	=	param_find("FPE_LO_THRUST");
	h->sonar_upper_lp_threshold	=	param_find("FPE_SONAR_LP_U");
	h->sonar_lower_lp_threshold	=	param_find("FPE_SONAR_LP_L");
	h->debug					=	param_find("FPE_DEBUG");

	return OK;
}

int parameters_update(const struct flow_position_estimator_param_handles *h, struct flow_position_estimator_params *p)
{
	param_get(h->minimum_liftoff_thrust, &(p->minimum_liftoff_thrust));
	param_get(h->sonar_upper_lp_threshold, &(p->sonar_upper_lp_threshold));
	param_get(h->sonar_lower_lp_threshold, &(p->sonar_lower_lp_threshold));
	param_get(h->debug, &(p->debug));

	return OK;
}