Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF: fixup parameter handling

This commit is contained in:
Andrew Tridgell 2014-01-20 16:47:56 +11:00
parent f09ae0c2d0
commit f800f5592d
2 changed files with 7 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -14,6 +14,7 @@
#include "AP_NavEKF.h" #include "AP_NavEKF.h"
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include <AP_Param.h>
#include <stdio.h> #include <stdio.h>
@ -22,14 +23,14 @@ extern const AP_HAL::HAL& hal;
#define earthRate 0.000072921f // earth rotation rate (rad/sec) #define earthRate 0.000072921f // earth rotation rate (rad/sec)
// Define tuning parameters // Define tuning parameters
const AP_Param::GroupInfo AP_NavEKF::var_info[] PROGMEM = { const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Param: TEST PARAM // @Param: TEST PARAM
// @DisplayName: Blah (units) // @DisplayName: Blah (units)
// @Description: Blah blah. // @Description: Blah blah.
// @Increment: 0.1 // @Increment: 0.1
// @User: advanced // @User: advanced
AP_GROUPINFO("BLAH", 0, AP_NavEKF, _blah, 1.0f), AP_GROUPINFO("BLAH", 0, NavEKF, _blah, 1.0f),
AP_GROUPEND AP_GROUPEND
}; };
@ -55,6 +56,8 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
_perf_FuseAirspeed(perf_alloc(PC_ELAPSED, "EKF_FuseAirspeed")) _perf_FuseAirspeed(perf_alloc(PC_ELAPSED, "EKF_FuseAirspeed"))
#endif #endif
{ {
AP_Param::setup_object_defaults(this, var_info);
// Tuning parameters // Tuning parameters
_gpsHorizVelNoise = 0.15f; // GPS horizontal velocity measurement noise : m/s _gpsHorizVelNoise = 0.15f; // GPS horizontal velocity measurement noise : m/s
_gpsVertVelNoise = 0.30f; // GPS vertical velocity measurement noise : m/s _gpsVertVelNoise = 0.30f; // GPS vertical velocity measurement noise : m/s

2
libraries/AP_NavEKF/AP_NavEKF.h
View File

@ -149,6 +149,8 @@ public:
// return the innovation variances for the NED Pos, NED Vel, XYZ Mag and Vtas measurements // return the innovation variances for the NED Pos, NED Vel, XYZ Mag and Vtas measurements
void getVariances(Vector3f &velVar, Vector3f &posVar, Vector3f &magVar, float &tasVar) const; void getVariances(Vector3f &velVar, Vector3f &posVar, Vector3f &magVar, float &tasVar) const;
static const struct AP_Param::GroupInfo var_info[];
private: private:
const AP_AHRS *_ahrs; const AP_AHRS *_ahrs;
AP_Baro &_baro; AP_Baro &_baro;