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Add vision weight parameters to structure

This commit is contained in:
ggregory8 2014-07-22 12:36:28 +08:00
parent d9f3352d72
commit a063f58e00
2 changed files with 10 additions and 0 deletions
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6
src/modules/position_estimator_inav/position_estimator_inav_params.c
View File

@ -43,9 +43,11 @@
PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
PARAM_DEFINE_FLOAT(INAV_W_Z_VISION_P, 0.5f);
PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_VISION_P, 5.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f);
PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
@ -64,9 +66,11 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
{
h->w_z_baro = param_find("INAV_W_Z_BARO");
h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
h->w_z_vision_p = param_find("INAV_W_Z_VISION_P");
h->w_z_sonar = param_find("INAV_W_Z_SONAR");
h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V");
h->w_xy_vision_p = param_find("INAV_W_XY_VISION_P");
h->w_xy_flow = param_find("INAV_W_XY_FLOW");
h->w_xy_res_v = param_find("INAV_W_XY_RES_V");
h->w_gps_flow = param_find("INAV_W_GPS_FLOW");
@ -88,9 +92,11 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str
{
param_get(h->w_z_baro, &(p->w_z_baro));
param_get(h->w_z_gps_p, &(p->w_z_gps_p));
param_get(h->w_z_vision_p, &(p->w_z_vision_p));
param_get(h->w_z_sonar, &(p->w_z_sonar));
param_get(h->w_xy_gps_p, &(p->w_xy_gps_p));
param_get(h->w_xy_gps_v, &(p->w_xy_gps_v));
param_get(h->w_xy_vision_p, &(p->w_xy_vision_p));
param_get(h->w_xy_flow, &(p->w_xy_flow));
param_get(h->w_xy_res_v, &(p->w_xy_res_v));
param_get(h->w_gps_flow, &(p->w_gps_flow));

4
src/modules/position_estimator_inav/position_estimator_inav_params.h
View File

@ -44,9 +44,11 @@
struct position_estimator_inav_params {
float w_z_baro;
float w_z_gps_p;
float w_z_vision_p;
float w_z_sonar;
float w_xy_gps_p;
float w_xy_gps_v;
float w_xy_vision_p;
float w_xy_flow;
float w_xy_res_v;
float w_gps_flow;
@ -65,9 +67,11 @@ struct position_estimator_inav_params {
struct position_estimator_inav_param_handles {
param_t w_z_baro;
param_t w_z_gps_p;
param_t w_z_vision_p;
param_t w_z_sonar;
param_t w_xy_gps_p;
param_t w_xy_gps_v;
param_t w_xy_vision_p;
param_t w_xy_flow;
param_t w_xy_res_v;
param_t w_gps_flow;