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Add weight parameter for vision velocity

This commit is contained in:
ggregory8 2014-07-22 14:00:49 +08:00
parent a063f58e00
commit dd0e39972f
2 changed files with 5 additions and 0 deletions
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3
src/modules/position_estimator_inav/position_estimator_inav_params.c
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@ -48,6 +48,7 @@ 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_P, 1.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); 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_VISION_P, 5.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_VISION_V, 0.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 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_XY_RES_V, 0.5f);
PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
@ -71,6 +72,7 @@ int parameters_init(struct position_estimator_inav_param_handles *h)
h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P"); 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_gps_v = param_find("INAV_W_XY_GPS_V");
h->w_xy_vision_p = param_find("INAV_W_XY_VISION_P"); h->w_xy_vision_p = param_find("INAV_W_XY_VISION_P");
h->w_xy_vision_v = param_find("INAV_W_XY_VISION_V");
h->w_xy_flow = param_find("INAV_W_XY_FLOW"); h->w_xy_flow = param_find("INAV_W_XY_FLOW");
h->w_xy_res_v = param_find("INAV_W_XY_RES_V"); h->w_xy_res_v = param_find("INAV_W_XY_RES_V");
h->w_gps_flow = param_find("INAV_W_GPS_FLOW"); h->w_gps_flow = param_find("INAV_W_GPS_FLOW");
@ -97,6 +99,7 @@ int parameters_update(const struct position_estimator_inav_param_handles *h, str
param_get(h->w_xy_gps_p, &(p->w_xy_gps_p)); 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_gps_v, &(p->w_xy_gps_v));
param_get(h->w_xy_vision_p, &(p->w_xy_vision_p)); param_get(h->w_xy_vision_p, &(p->w_xy_vision_p));
param_get(h->w_xy_vision_v, &(p->w_xy_vision_v));
param_get(h->w_xy_flow, &(p->w_xy_flow)); 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_xy_res_v, &(p->w_xy_res_v));
param_get(h->w_gps_flow, &(p->w_gps_flow)); param_get(h->w_gps_flow, &(p->w_gps_flow));

2
src/modules/position_estimator_inav/position_estimator_inav_params.h
View File

@ -49,6 +49,7 @@ struct position_estimator_inav_params {
float w_xy_gps_p; float w_xy_gps_p;
float w_xy_gps_v; float w_xy_gps_v;
float w_xy_vision_p; float w_xy_vision_p;
float w_xy_vision_v;
float w_xy_flow; float w_xy_flow;
float w_xy_res_v; float w_xy_res_v;
float w_gps_flow; float w_gps_flow;
@ -72,6 +73,7 @@ struct position_estimator_inav_param_handles {
param_t w_xy_gps_p; param_t w_xy_gps_p;
param_t w_xy_gps_v; param_t w_xy_gps_v;
param_t w_xy_vision_p; param_t w_xy_vision_p;
param_t w_xy_vision_v;
param_t w_xy_flow; param_t w_xy_flow;
param_t w_xy_res_v; param_t w_xy_res_v;
param_t w_gps_flow; param_t w_gps_flow;