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position_estimator_inav default parameters changed, some fixes

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Anton Babushkin
2013-06-28 12:58:12 +04:00
parent 7b73df6440
commit 8e732fc527
3 changed files with 12 additions and 1 deletions
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src/modules/position_estimator_inav/position_estimator_inav_main.c
+1
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@@ -391,6 +391,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
mavlink_log_info(mavlink_fd, "[inav] new home: alt = %.3f", baro_alt0);
local_pos.home_alt = baro_alt0;
local_pos.home_timestamp = hrt_absolute_time();
z_est[0] += sonar_corr;
sonar_corr = 0.0f;
sonar_corr_filtered = 0.0;
}
src/modules/position_estimator_inav/position_estimator_inav_params.c
+1 -1
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@@ -49,7 +49,7 @@ PARAM_DEFINE_FLOAT(INAV_W_POS_GPS_V, 0.0f);
PARAM_DEFINE_FLOAT(INAV_W_POS_ACC, 10.0f);
PARAM_DEFINE_FLOAT(INAV_W_POS_FLOW, 10.0f);
PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.0f);
PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.5f);
PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.02f);
PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
int parameters_init(struct position_estimator_inav_param_handles *h)