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/****************************************************************************
*
* 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"
PARAM_DEFINE_INT32(INAV_USE_GPS, 1);
PARAM_DEFINE_FLOAT(INAV_W_ALT_BARO, 1.0f);
PARAM_DEFINE_FLOAT(INAV_W_ALT_ACC, 50.0f);
PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_P, 4.0f);
PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 0.0f);
PARAM_DEFINE_FLOAT(INAV_W_POS_ACC, 10.0f);
int parameters_init(struct position_estimator_inav_param_handles *h)
{
h->use_gps = param_find("INAV_USE_GPS");
h->w_alt_baro = param_find("INAV_W_ALT_BARO");
h->w_alt_acc = param_find("INAV_W_ALT_ACC");
h->w_pos_gps_p = param_find("INAV_W_POS_GPS_P");
h->w_pos_gps_v = param_find("INAV_W_POS_GPS_V");
h->w_pos_acc = param_find("INAV_W_POS_ACC");
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->w_alt_baro, &(p->w_alt_baro));
param_get(h->w_alt_acc, &(p->w_alt_acc));
param_get(h->w_pos_gps_p, &(p->w_pos_gps_p));
param_get(h->w_pos_gps_v, &(p->w_pos_gps_v));
param_get(h->w_pos_acc, &(p->w_pos_acc));
return OK;
}
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