1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
|
/****************************************************************************
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*
* 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,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/*
* @file position_estimator_inav_params.c
*
* Parameters for position_estimator_inav
*/
#include "position_estimator_inav_params.h"
/* Kalman Filter covariances */
/* gps measurement noise standard deviation */
PARAM_DEFINE_INT32(INAV_USE_GPS, 0);
PARAM_DEFINE_FLOAT(INAV_K_ALT_00, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_ALT_01, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_ALT_10, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_ALT_11, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_ALT_20, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_ALT_21, 0.0f);
PARAM_DEFINE_INT32(INAV_ACC_OFFS_0, 0);
PARAM_DEFINE_INT32(INAV_ACC_OFFS_1, 0);
PARAM_DEFINE_INT32(INAV_ACC_OFFS_2, 0);
PARAM_DEFINE_FLOAT(INAV_ACC_T_00, 0.0021f);
PARAM_DEFINE_FLOAT(INAV_ACC_T_01, 0.0f);
PARAM_DEFINE_FLOAT(INAV_ACC_T_02, 0.0f);
PARAM_DEFINE_FLOAT(INAV_ACC_T_10, 0.0f);
PARAM_DEFINE_FLOAT(INAV_ACC_T_11, 0.0021f);
PARAM_DEFINE_FLOAT(INAV_ACC_T_12, 0.0f);
PARAM_DEFINE_FLOAT(INAV_ACC_T_20, 0.0f);
PARAM_DEFINE_FLOAT(INAV_ACC_T_21, 0.0f);
PARAM_DEFINE_FLOAT(INAV_ACC_T_22, 0.0021f);
int parameters_init(struct position_estimator_inav_param_handles *h) {
h->use_gps = param_find("INAV_USE_GPS");
h->k_alt_00 = param_find("INAV_K_ALT_00");
h->k_alt_01 = param_find("INAV_K_ALT_01");
h->k_alt_10 = param_find("INAV_K_ALT_10");
h->k_alt_11 = param_find("INAV_K_ALT_11");
h->k_alt_20 = param_find("INAV_K_ALT_20");
h->k_alt_21 = param_find("INAV_K_ALT_21");
h->acc_offs_0 = param_find("INAV_ACC_OFFS_0");
h->acc_offs_1 = param_find("INAV_ACC_OFFS_1");
h->acc_offs_2 = param_find("INAV_ACC_OFFS_2");
h->acc_t_00 = param_find("INAV_ACC_T_00");
h->acc_t_01 = param_find("INAV_ACC_T_01");
h->acc_t_02 = param_find("INAV_ACC_T_02");
h->acc_t_10 = param_find("INAV_ACC_T_10");
h->acc_t_11 = param_find("INAV_ACC_T_11");
h->acc_t_12 = param_find("INAV_ACC_T_12");
h->acc_t_20 = param_find("INAV_ACC_T_20");
h->acc_t_21 = param_find("INAV_ACC_T_21");
h->acc_t_22 = param_find("INAV_ACC_T_22");
return OK;
}
int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p) {
param_get(h->use_gps, &(p->use_gps));
param_get(h->k_alt_00, &(p->k[0][0]));
param_get(h->k_alt_01, &(p->k[0][1]));
param_get(h->k_alt_10, &(p->k[1][0]));
param_get(h->k_alt_11, &(p->k[1][1]));
param_get(h->k_alt_20, &(p->k[2][0]));
param_get(h->k_alt_21, &(p->k[2][1]));
/* read int32 and cast to int16 */
int32_t t;
param_get(h->acc_offs_0, &t);
p->acc_offs[0] = t;
param_get(h->acc_offs_1, &t);
p->acc_offs[1] = t;
param_get(h->acc_offs_2, &t);
p->acc_offs[2] = t;
param_get(h->acc_t_00, &(p->acc_T[0][0]));
param_get(h->acc_t_01, &(p->acc_T[0][1]));
param_get(h->acc_t_02, &(p->acc_T[0][2]));
param_get(h->acc_t_10, &(p->acc_T[1][0]));
param_get(h->acc_t_11, &(p->acc_T[1][1]));
param_get(h->acc_t_12, &(p->acc_T[1][2]));
param_get(h->acc_t_20, &(p->acc_T[2][0]));
param_get(h->acc_t_21, &(p->acc_T[2][1]));
param_get(h->acc_t_22, &(p->acc_T[2][2]));
return OK;
}
|