/****************************************************************************
 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 *   Author: 	Damian Aregger <daregger@student.ethz.ch>
 *   			Tobias Naegeli <naegelit@student.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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 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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 ****************************************************************************/

/*
 * @file position_estimator_mc_params.h
 * 
 * Parameters for Position Estimator
 */

#include <systemlib/param/param.h>

struct position_estimator_mc_params {
	float addNoise;
	float sigma;
	float R;
	int baro; /* consider barometer */
};

struct position_estimator_mc_param_handles {
	param_t addNoise;
	param_t sigma;
	param_t r;
	param_t baro_param_handle;
};

/**
 * Initialize all parameter handles and values
 *
 */
int parameters_init(struct position_estimator_mc_param_handles *h);

/**
 * Update all parameters
 *
 */
int parameters_update(const struct position_estimator_mc_param_handles *h, struct position_estimator_mc_params *p);