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/**
 * @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);