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added a offset parameter for lidar in inav

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ChristophTobler 2016-02-09 14:39:11 +01:00 committed by Lorenz Meier
parent 0a76347c9d
commit 19bc39e7ad
3 changed files with 17 additions and 0 deletions
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1
src/modules/position_estimator_inav/position_estimator_inav_main.cpp
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@ -543,6 +543,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
/* update lidar separately, needed by terrain estimator */
if (updated) {
orb_copy(ORB_ID(distance_sensor), distance_sensor_sub, &lidar);
lidar.current_distance += params.lidar_calibration_offset;
}
if (updated) { //check if altitude estimation for lidar is enabled and new sensor data

14
src/modules/position_estimator_inav/position_estimator_inav_params.cpp
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@ -323,6 +323,18 @@ PARAM_DEFINE_FLOAT(INAV_DISAB_MOCAP, 0);
*/
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
*
@ -375,6 +387,7 @@ int inav_parameters_init(struct position_estimator_inav_param_handles *h)
h->flow_module_offset_y = param_find("INAV_FLOW_DIST_Y");
h->disable_mocap = param_find("INAV_DISAB_MOCAP");
h->enable_lidar_alt_est = param_find("INAV_LIDAR_EST");
h->lidar_calibration_offset = param_find("INAV_LIDAR_OFF");
h->att_ext_hdg_m = param_find("ATT_EXT_HDG_M");
return 0;
@ -409,6 +422,7 @@ int inav_parameters_update(const struct position_estimator_inav_param_handles *h
param_get(h->flow_module_offset_y, &(p->flow_module_offset_y));
param_get(h->disable_mocap, &(p->disable_mocap));
param_get(h->enable_lidar_alt_est, &(p->enable_lidar_alt_est));
param_get(h->lidar_calibration_offset, &(p->lidar_calibration_offset));
param_get(h->att_ext_hdg_m, &(p->att_ext_hdg_m));
return 0;

2
src/modules/position_estimator_inav/position_estimator_inav_params.h
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@ -68,6 +68,7 @@ struct position_estimator_inav_params {
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;
};
@ -98,6 +99,7 @@ struct position_estimator_inav_param_handles {
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;
};