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LPE land bug fix and switch to fusion bit mask.

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This commit is contained in:
James Goppert
2016-12-21 08:43:18 +01:00
committed by Lorenz Meier
parent f263ea7f7e
commit 6ff85fb927
12 changed files with 430 additions and 517 deletions
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src/modules/local_position_estimator/params.c
+60 -33
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@@ -2,14 +2,6 @@
// 16 is max name length
/**
* Publish AGL as Z
*
* @group Local Position Estimator
* @boolean
*/
PARAM_DEFINE_FLOAT(LPE_PUB_AGL_Z, 0);
/**
* Optical flow z offset from center
*
@@ -33,15 +25,26 @@ PARAM_DEFINE_FLOAT(LPE_FLW_OFF_Z, 0.0f);
PARAM_DEFINE_FLOAT(LPE_FLW_SCALE, 1.3f);
/**
* Optical flow gyro compensation
* Optical flow rotation (roll/pitch) noise gain
*
* @group Local Position Estimator
* @unit m
* @min -1
* @max 1
* @unit m/s / (rad)
* @min 0.1
* @max 10.0
* @decimal 3
*/
PARAM_DEFINE_INT32(LPE_FLW_GYRO_CMP, 1);
PARAM_DEFINE_FLOAT(LPE_FLW_R, 7.0f);
/**
* Optical flow angular velocity noise gain
*
* @group Local Position Estimator
* @unit m/s / (rad/s)
* @min 0.0
* @max 10.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_FLW_RR, 7.0f);
/**
* Optical flow minimum quality threshold
@@ -131,19 +134,11 @@ PARAM_DEFINE_FLOAT(LPE_ACC_Z, 0.02f);
* @group Local Position Estimator
* @unit m
* @min 0.01
* @max 3
* @max 100
* @decimal 2
*/
PARAM_DEFINE_FLOAT(LPE_BAR_Z, 3.0f);
/**
* Enables GPS data, also forces alt init with GPS
*
* @group Local Position Estimator
* @boolean
*/
PARAM_DEFINE_INT32(LPE_GPS_ON, 1);
/**
* GPS delay compensaton
*
@@ -251,19 +246,11 @@ PARAM_DEFINE_FLOAT(LPE_VIS_XY, 0.1f);
* @group Local Position Estimator
* @unit m
* @min 0.01
* @max 2
* @max 100
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_VIS_Z, 0.5f);
/**
* Vision correction
*
* @group Local Position Estimator
* @boolean
*/
PARAM_DEFINE_INT32(LPE_VIS_ON, 1);
/**
* Vicon position standard deviation.
*
@@ -357,7 +344,7 @@ PARAM_DEFINE_FLOAT(LPE_FGYRO_HP, 0.001f);
* @max 90
* @decimal 8
*/
PARAM_DEFINE_FLOAT(LPE_LAT, 40.430f);
PARAM_DEFINE_FLOAT(LPE_LAT, 47.397742f);
/**
* Local origin longitude for nav w/o GPS
@@ -368,7 +355,7 @@ PARAM_DEFINE_FLOAT(LPE_LAT, 40.430f);
* @max 180
* @decimal 8
*/
PARAM_DEFINE_FLOAT(LPE_LON, -86.929);
PARAM_DEFINE_FLOAT(LPE_LON, 8.545594);
/**
* Cut frequency for state publication
@@ -413,3 +400,43 @@ PARAM_DEFINE_FLOAT(LPE_Z_PUB, 1.0f);
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_LAND_Z, 0.03f);
/**
* Land detector xy velocity standard deviation
*
* @group Local Position Estimator
* @unit m/s
* @min 0.01
* @max 10.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_LAND_VXY, 0.05f);
/**
* Integer bitmask controlling data fusion
*
* Set bits in the following positions to enable:
* 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init
* 1 : Set to true to fuse optical flow data if available
* 2 : Set to true to fuse vision position
* 3 : Set to true to fuse vision yaw
* 4 : Set to true to fuse land detector
* 5 : Set to true to publish AGL as local position down component
* 6 : Set to true to enable flow gyro compensation
* 7 : Set to true to enable baro fusion
*
* default (247, no vision yaw)
*
* @group Local Position Estimator
* @min 0
* @max 255
* @bit 0 fuse GPS, requires GPS for alt. init
* @bit 1 fuse optical flow
* @bit 2 fuse vision position
* @bit 3 fuse vision yaw
* @bit 4 fuse land detector
* @bit 5 pub agl as lpos down
* @bit 6 flow gyro compensation
* @bit 7 fuse baro
*/
PARAM_DEFINE_INT32(LPE_FUSION, 247);