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delete position_estimator_inav

This commit is contained in:
Daniel Agar 2019-08-01 13:38:18 -04:00
parent d301c22665
commit 77694183b2
38 changed files with 0 additions and 2210 deletions
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7
ROMFS/px4fmu_common/init.d-posix/1010_iris_opt_flow
View File

@ -14,13 +14,6 @@ then
param set EKF2_EVP_NOISE 0.05
param set EKF2_EVA_NOISE 0.05
# INAV
param set INAV_LIDAR_EST 1
param set INAV_W_XY_FLOW 1
param set INAV_W_XY_GPS_P 0
param set INAV_W_XY_GPS_V 0
param set INAV_W_Z_GPS_P 0
# LPE: Flow-only mode
param set LPE_FUSION 242
param set LPE_FAKE_ORIGIN 1

7
ROMFS/px4fmu_common/init.d-posix/1013_iris_vision
View File

@ -13,13 +13,6 @@ then
param set EKF2_AID_MASK 24
param set EKF2_EV_DELAY 5
# INAV: trust more on the vision input
param set INAV_W_XY_VIS_P 9
param set INAV_W_Z_VIS_P 7
param set INAV_W_XY_GPS_P 0
param set INAV_W_XY_GPS_V 0
param set INAV_W_Z_GPS_P 0
# LPE: Vision + baro
param set LPE_FUSION 132

5
ROMFS/px4fmu_common/init.d/airframes/4030_3dr_solo
View File

@ -25,11 +25,6 @@ then
param set MPC_XY_VEL_MAX 3
param set MPC_Z_VEL_MAX_DN 2
# INAV: higher GPS weights for better altitude control
param set INAV_W_Z_BARO 0.3
param set INAV_W_Z_GPS_P 0.8
param set INAV_W_Z_GPS_V 0.8
# takeoff, land and RTL settings
param set MIS_TAKEOFF_ALT 4
param set RTL_LAND_DELAY 1

1
boards/aerotenna/ocpoc/ubuntu.cmake
View File

@ -76,7 +76,6 @@ px4_add_board(
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/airmind/mindpx-v2/default.cmake
View File

@ -107,7 +107,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/atlflight/excelsior/default.cmake
View File

@ -117,7 +117,6 @@ px4_add_board(
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/auav/x21/default.cmake
View File

@ -113,7 +113,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/av/x-v1/default.cmake
View File

@ -113,7 +113,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/beaglebone/blue/cross.cmake
View File

@ -73,7 +73,6 @@ px4_add_board(
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/beaglebone/blue/native.cmake
View File

@ -71,7 +71,6 @@ px4_add_board(
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/emlid/navio2/cross.cmake
View File

@ -81,7 +81,6 @@ px4_add_board(
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/emlid/navio2/native.cmake
View File

@ -79,7 +79,6 @@ px4_add_board(
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/nxp/fmuk66-v3/default.cmake
View File

@ -108,7 +108,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/fmu-v2/default.cmake
View File

@ -119,7 +119,6 @@ px4_add_board(
#hello
#hwtest # Hardware test
#matlab_csv_serial
#position_estimator_inav
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app

1
boards/px4/fmu-v3/default.cmake
View File

@ -121,7 +121,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/fmu-v3/rtps.cmake
View File

@ -121,7 +121,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/fmu-v4/default.cmake
View File

@ -105,7 +105,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/fmu-v4/rtps.cmake
View File

@ -108,7 +108,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/fmu-v4/stackcheck.cmake
View File

@ -105,7 +105,6 @@ px4_add_board(
#hello
#hwtest # Hardware test
#matlab_csv_serial
#position_estimator_inav
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app

1
boards/px4/fmu-v4pro/default.cmake
View File

@ -119,7 +119,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/fmu-v4pro/rtps.cmake
View File

@ -119,7 +119,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/fmu-v5/default.cmake
View File

@ -120,7 +120,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/fmu-v5/rtps.cmake
View File

@ -118,7 +118,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/fmu-v5/stackcheck.cmake
View File

@ -119,7 +119,6 @@ px4_add_board(
#hello
#hwtest # Hardware test
#matlab_csv_serial
#position_estimator_inav
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app

1
boards/px4/fmu-v5x/default.cmake
View File

@ -120,7 +120,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/fmu-v5x/rtps.cmake
View File

@ -121,7 +121,6 @@ px4_add_board(
hello
hwtest # Hardware test
#matlab_csv_serial
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/fmu-v5x/stackcheck.cmake
View File

@ -120,7 +120,6 @@ px4_add_board(
#hello
#hwtest # Hardware test
#matlab_csv_serial
#position_estimator_inav
#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
#rover_steering_control # Rover example app

1
boards/px4/raspberrypi/cross.cmake
View File

@ -73,7 +73,6 @@ px4_add_board(
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/raspberrypi/native.cmake
View File

@ -72,7 +72,6 @@ px4_add_board(
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/sitl/default.cmake
View File

@ -77,7 +77,6 @@ px4_add_board(
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/sitl/rtps.cmake
View File

@ -78,7 +78,6 @@ px4_add_board(
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

1
boards/px4/sitl/test.cmake
View File

@ -77,7 +77,6 @@ px4_add_board(
fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
hello
#hwtest # Hardware test
position_estimator_inav
px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
rover_steering_control # Rover example app

47
src/examples/position_estimator_inav/CMakeLists.txt
View File

@ -1,47 +0,0 @@
############################################################################
#
# Copyright (c) 2015 PX4 Development Team. All rights reserved.
#
# 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.
#
############################################################################
px4_add_module(
MODULE modules__position_estimator_inav
MAIN position_estimator_inav
STACK_MAIN 1200
STACK_MAX 4000
COMPILE_FLAGS
SRCS
position_estimator_inav_main.cpp
inertial_filter.cpp
DEPENDS
terrain_estimation
git_ecl
ecl_geo
)

34
src/examples/position_estimator_inav/inertial_filter.cpp
View File

@ -1,34 +0,0 @@
/*
* inertial_filter.c
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*/
#include "px4_defines.h"
#include "inertial_filter.h"
#include <cmath>
void inertial_filter_predict(float dt, float x[2], float acc)
{
if (PX4_ISFINITE(dt)) {
if (!PX4_ISFINITE(acc)) {
acc = 0.0f;
}
x[0] += x[1] * dt + acc * dt * dt / 2.0f;
x[1] += acc * dt;
}
}
void inertial_filter_correct(float e, float dt, float x[2], int i, float w)
{
if (PX4_ISFINITE(e) && PX4_ISFINITE(w) && PX4_ISFINITE(dt)) {
float ewdt = e * w * dt;
x[i] += ewdt;
if (i == 0) {
x[1] += w * ewdt;
}
}
}

15
src/examples/position_estimator_inav/inertial_filter.h
View File

@ -1,15 +0,0 @@
/*
* inertial_filter.h
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*/
#pragma once
#include <stdbool.h>
#include <drivers/drv_hrt.h>
void inertial_filter_predict(float dt, float x[2], float acc);
void inertial_filter_correct(float e, float dt, float x[2], int i, float w);

346
src/examples/position_estimator_inav/params.c
View File

@ -1,346 +0,0 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* 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
*
* @author Anton Babushkin <rk3dov@gmail.com>
*
* Parameters for position_estimator_inav
*/
#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);
/**
* 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);
/**
* Z velocity weight for GPS
*
* Weight (cutoff frequency) for GPS altitude velocity measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_V, 0.0f);
/**
* Z axis weight for vision
*
* Weight (cutoff frequency) for vision altitude measurements. vision 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_VIS_P, 5.0f);
/**
* Z axis weight for lidar
*
* Weight (cutoff frequency) for lidar measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_Z_LIDAR, 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);
/**
* 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);
/**
* XY axis weight for vision position
*
* Weight (cutoff frequency) for vision position measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 7.0f);
/**
* XY axis weight for vision velocity
*
* Weight (cutoff frequency) for vision velocity measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_V, 0.0f);
/**
* Weight for mocap system
*
* Weight (cutoff frequency) for mocap position measurements.
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_MOC_P, 10.0f);
/**
* 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, 0.8f);
/**
* 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);
/**
* 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);
/**
* 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);
/**
* Optical flow scale factor
*
* Factor to scale optical flow
*
* @min 0.0
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.35f);
/**
* 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, 0.3f);
/**
* 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_LIDAR_ERR, 0.2f);
/**
* 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);
/**
* 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);
/**
* 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);
/**
* 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);
/**
* Flow module offset (center of rotation) in X direction
*
* Yaw X flow compensation
*
* @min -1.0
* @max 1.0
* @unit m
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_FLOW_DIST_X, 0.0f);
/**
* Flow module offset (center of rotation) in Y direction
*
* Yaw Y flow compensation
*
* @min -1.0
* @max 1.0
* @unit m
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_FLOW_DIST_Y, 0.0f);
/**
* Mo-cap
*
* Set to 0 if using fake GPS
*
* @value 0 Mo-cap enabled
* @value 1 Mo-cap disabled
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_DISAB_MOCAP, 0);
/**
* LIDAR for altitude estimation
*
* @boolean
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_LIDAR_EST, 0);
/**
* LIDAR calibration offset
*
* LIDAR calibration offset. Value will be added to the measured distance
*
* @min -20
* @max 20
* @unit m
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_LIDAR_OFF, 0.0f);
/**
* Disable vision input
*
* Set to the appropriate key (328754) to disable vision input.
*
* @reboot_required true
* @min 0
* @max 328754
* @category Developer
* @group Position Estimator INAV
*/
PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);

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/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* 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
*
* @author Anton Babushkin <rk3dov@gmail.com>
*
* Parameters definition for position_estimator_inav
*/
#pragma once
#include <parameters/param.h>
struct position_estimator_inav_params {
float w_z_baro;
float w_z_gps_p;
float w_z_gps_v;
float w_z_vision_p;
float w_z_lidar;
float w_xy_gps_p;
float w_xy_gps_v;
float w_xy_vision_p;
float w_xy_vision_v;
float w_mocap_p;
float w_xy_flow;
float w_xy_res_v;
float w_gps_flow;
float w_acc_bias;
float flow_k;
float flow_q_min;
float lidar_err;
float land_t;
float land_disp;
float land_thr;
int32_t no_vision;
float delay_gps;
float flow_module_offset_x;
float flow_module_offset_y;
int32_t disable_mocap;
int32_t enable_lidar_alt_est;
float lidar_calibration_offset;
int32_t att_ext_hdg_m;
};
struct position_estimator_inav_param_handles {
param_t w_z_baro;
param_t w_z_gps_p;
param_t w_z_gps_v;
param_t w_z_vision_p;
param_t w_z_lidar;
param_t w_xy_gps_p;
param_t w_xy_gps_v;
param_t w_xy_vision_p;
param_t w_xy_vision_v;
param_t w_mocap_p;
param_t w_xy_flow;
param_t w_xy_res_v;
param_t w_gps_flow;
param_t w_acc_bias;
param_t flow_k;
param_t flow_q_min;
param_t lidar_err;
param_t land_t;
param_t land_disp;
param_t land_thr;
param_t no_vision;
param_t delay_gps;
param_t flow_module_offset_x;
param_t flow_module_offset_y;
param_t disable_mocap;
param_t enable_lidar_alt_est;
param_t lidar_calibration_offset;
param_t att_ext_hdg_m;
};
#define CBRK_NO_VISION_KEY 328754
/**
* Initialize all parameter handles and values
*
*/
int inav_parameters_init(struct position_estimator_inav_param_handles *h);
/**
* Update all parameters
*
*/
int inav_parameters_update(const struct position_estimator_inav_param_handles *h,
struct position_estimator_inav_params *p);