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/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Author: 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,
* 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 attitude_estimator_ekf_params.c
*
* Parameters for EKF filter
*/
#include "attitude_estimator_ekf_params.h"
#include <math.h>
/* Extended Kalman Filter covariances */
/* gyro process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
/* gyro offsets process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
/* gyro measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
/* accel measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
/* mag measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
/* magnetic declination, in degrees */
PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
PARAM_DEFINE_INT32(ATT_ACC_COMP, 2);
/*
* Moment of inertia matrix diagonal entry (1, 1)
*
* @group attitude_ekf
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J11, 0.0018);
/*
* Moment of inertia matrix diagonal entry (2, 2)
*
* @group attitude_ekf
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J22, 0.0018);
/*
* Moment of inertia matrix diagonal entry (3, 3)
*
* @group attitude_ekf
* @unit kg*m^2
*/
PARAM_DEFINE_FLOAT(ATT_J33, 0.0037);
int parameters_init(struct attitude_estimator_ekf_param_handles *h)
{
/* PID parameters */
h->q0 = param_find("EKF_ATT_V3_Q0");
h->q1 = param_find("EKF_ATT_V3_Q1");
h->q2 = param_find("EKF_ATT_V3_Q2");
h->q3 = param_find("EKF_ATT_V3_Q3");
h->r0 = param_find("EKF_ATT_V4_R0");
h->r1 = param_find("EKF_ATT_V4_R1");
h->r2 = param_find("EKF_ATT_V4_R2");
h->mag_decl = param_find("ATT_MAG_DECL");
h->acc_comp = param_find("ATT_ACC_COMP");
h->moment_inertia_J[0] = param_find("ATT_J11");
h->moment_inertia_J[1] = param_find("ATT_J22");
h->moment_inertia_J[2] = param_find("ATT_J33");
return OK;
}
int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p)
{
param_get(h->q0, &(p->q[0]));
param_get(h->q1, &(p->q[1]));
param_get(h->q2, &(p->q[2]));
param_get(h->q3, &(p->q[3]));
param_get(h->r0, &(p->r[0]));
param_get(h->r1, &(p->r[1]));
param_get(h->r2, &(p->r[2]));
param_get(h->mag_decl, &(p->mag_decl));
p->mag_decl *= M_PI_F / 180.0f;
param_get(h->acc_comp, &(p->acc_comp));
for (int i = 0; i < 3; i++) {
param_get(h->moment_inertia_J[i], &(p->moment_inertia_J[3 * i + i]));
}
return OK;
}
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