mirror of https://github.com/ArduPilot/ardupilot
46 lines
1.5 KiB
C++
46 lines
1.5 KiB
C++
/*
|
|
APM_AHRS.cpp
|
|
|
|
This library is free software; you can redistribute it and/or
|
|
modify it under the terms of the GNU Lesser General Public License
|
|
as published by the Free Software Foundation; either version 2.1
|
|
of the License, or (at your option) any later version.
|
|
*/
|
|
#include <FastSerial.h>
|
|
#include <AP_AHRS.h>
|
|
|
|
|
|
// table of user settable parameters
|
|
const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = {
|
|
// index 0 and 1 are for old parameters that are no longer used
|
|
|
|
// @Param: GPS_GAIN
|
|
// @DisplayName: AHRS GPS gain
|
|
// @Description: This controls how how much to use the GPS to correct the attitude
|
|
// @Range: 0.0 1.0
|
|
// @Increment: .01
|
|
AP_GROUPINFO("GPS_GAIN", 2, AP_AHRS, gps_gain, 1.0),
|
|
|
|
// @Param: GPS_USE
|
|
// @DisplayName: enable/disable use of GPS for position estimation
|
|
// @Description: This controls how how much to use the GPS to correct the attitude. This is for testing the dead-reckoning code
|
|
// @User: Advanced
|
|
AP_GROUPINFO("GPS_USE", 3, AP_AHRS, _gps_use, 1),
|
|
|
|
// @Param: YAW_P
|
|
// @DisplayName: Yaw P
|
|
// @Description: This controls the weight the compass has on the overall heading
|
|
// @Range: 0 .4
|
|
// @Increment: .01
|
|
AP_GROUPINFO("YAW_P", 4, AP_AHRS, _kp_yaw, 0.4),
|
|
|
|
// @Param: RP_P
|
|
// @DisplayName: AHRS RP_P
|
|
// @Description: This controls how fast the accelerometers correct the attitude
|
|
// @Range: 0 .4
|
|
// @Increment: .01
|
|
AP_GROUPINFO("RP_P", 5, AP_AHRS, _kp, 0.4),
|
|
|
|
AP_GROUPEND
|
|
};
|