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Made LPE var pub threshold a parameter. (#4959)

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This commit is contained in:
James Goppert
2016-07-01 13:27:29 -04:00
committed by GitHub
parent a0fdfb0c21
commit cb3120764a
3 changed files with 32 additions and 16 deletions
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src/modules/local_position_estimator/params.c
+22 -9
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@@ -3,14 +3,6 @@
// 16 is max name length
/**
* Accelerometer integration for prediction.
*
* @boolean
* @group Local Position Estimator
*/
PARAM_DEFINE_INT32(LPE_INTEGRATE, 1);
/**
* Optical flow z offset from center
*
@@ -346,5 +338,26 @@ PARAM_DEFINE_FLOAT(LPE_LON, -86.929);
* @max 1000
* @decimal 0
*/
PARAM_DEFINE_FLOAT(LPE_X_LP, 5.0);
PARAM_DEFINE_FLOAT(LPE_X_LP, 5.0f);
/**
* Required xy standard deviation to publish position
*
* @group Local Position Estimator
* @unit m
* @min 0.3
* @max 5.0
* @decimal 1
*/
PARAM_DEFINE_FLOAT(LPE_XY_PUB, 1.0f);
/**
* Required z standard deviation to publish altitude/ terrain
*
* @group Local Position Estimator
* @unit m
* @min 0.3
* @max 5.0
* @decimal 1
*/
PARAM_DEFINE_FLOAT(LPE_Z_PUB, 1.0f);