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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, 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_FLOAT(INAV_K_POS_00, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_POS_01, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_POS_02, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_POS_10, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_POS_11, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_POS_12, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_POS_20, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_POS_21, 0.0f);
PARAM_DEFINE_FLOAT(INAV_K_POS_22, 0.0f);
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->k_pos_00 = param_find("INAV_K_POS_00");
h->k_pos_01 = param_find("INAV_K_POS_01");
h->k_pos_02 = param_find("INAV_K_POS_02");
h->k_pos_10 = param_find("INAV_K_POS_10");
h->k_pos_11 = param_find("INAV_K_POS_11");
h->k_pos_12 = param_find("INAV_K_POS_12");
h->k_pos_20 = param_find("INAV_K_POS_20");
h->k_pos_21 = param_find("INAV_K_POS_21");
h->k_pos_22 = param_find("INAV_K_POS_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_alt[0][0]));
param_get(h->k_alt_01, &(p->k_alt[0][1]));
param_get(h->k_alt_10, &(p->k_alt[1][0]));
param_get(h->k_alt_11, &(p->k_alt[1][1]));
param_get(h->k_alt_20, &(p->k_alt[2][0]));
param_get(h->k_alt_21, &(p->k_alt[2][1]));
param_get(h->k_pos_00, &(p->k_pos[0][0]));
param_get(h->k_pos_01, &(p->k_pos[0][1]));
param_get(h->k_pos_02, &(p->k_pos[0][2]));
param_get(h->k_pos_10, &(p->k_pos[1][0]));
param_get(h->k_pos_11, &(p->k_pos[1][1]));
param_get(h->k_pos_12, &(p->k_pos[1][2]));
param_get(h->k_pos_20, &(p->k_pos[2][0]));
param_get(h->k_pos_21, &(p->k_pos[2][1]));
param_get(h->k_pos_22, &(p->k_pos[2][2]));
return OK;
}
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