Merge pull request #1214 from PX4/inav_params_descr

position_estimator_inav: parameters descriptions added
This commit is contained in:
Lorenz Meier 2014-07-19 23:21:58 +02:00
commit 4c0e229347
1 changed files with 174 additions and 0 deletions

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@ -40,22 +40,196 @@
#include "position_estimator_inav_params.h" #include "position_estimator_inav_params.h"
/**
* Z axis weight for barometer
*
* Weight (cutoff frequency) for barometer altitude measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f); PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
/**
* Z axis weight for GPS
*
* Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f); PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
/**
* Z axis weight for sonar
*
* Weight (cutoff frequency) for sonar measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
/**
* XY axis weight for GPS position
*
* Weight (cutoff frequency) for GPS position measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
/**
* XY axis weight for GPS velocity
*
* Weight (cutoff frequency) for GPS velocity measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
/**
* XY axis weight for optical flow
*
* Weight (cutoff frequency) for optical flow (velocity) measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
/**
* XY axis weight for resetting velocity
*
* When velocity sources lost slowly decrease estimated horizontal velocity with this weight.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f); PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f);
/**
* XY axis weight factor for GPS when optical flow available
*
* When optical flow data available, multiply GPS weights (for position and velocity) by this factor.
*
* @min 0.0
* @max 1.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
/**
* Accelerometer bias estimation weight
*
* Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.
*
* @min 0.0
* @max 0.1
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
/**
* Optical flow scale factor
*
* Factor to convert raw optical flow (in pixels) to radians [rad/px].
*
* @min 0.0
* @max 1.0
* @unit rad/px
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f);
/**
* Minimal acceptable optical flow quality
*
* 0 - lowest quality, 1 - best quality.
*
* @min 0.0
* @max 1.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f); PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f);
/**
* Weight for sonar filter
*
* Sonar filter detects spikes on sonar measurements and used to detect new surface level.
*
* @min 0.0
* @max 1.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f); PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f);
/**
* Sonar maximal error for new surface
*
* If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).
*
* @min 0.0
* @max 1.0
* @unit m
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f); PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
/**
* Land detector time
*
* Vehicle assumed landed if no altitude changes happened during this time on low throttle.
*
* @min 0.0
* @max 10.0
* @unit s
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f); PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
/**
* Land detector altitude dispersion threshold
*
* Dispersion threshold for triggering land detector.
*
* @min 0.0
* @max 10.0
* @unit m
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f); PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
/**
* Land detector throttle threshold
*
* Value should be lower than minimal hovering thrust. Half of it is good choice.
*
* @min 0.0
* @max 1.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f); PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
/**
* GPS delay
*
* GPS delay compensation
*
* @min 0.0
* @max 1.0
* @unit s
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f); PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
int parameters_init(struct position_estimator_inav_param_handles *h) int parameters_init(struct position_estimator_inav_param_handles *h)