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lpe : changes to allow hybrid GPS-denied navigation

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This commit is contained in:
Kabir Mohammed
2017-02-15 21:48:33 +01:00
committed by Lorenz Meier
parent 0f91378eeb
commit e63747ec2f
5 changed files with 40 additions and 14 deletions
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src/modules/local_position_estimator/params.c
+11 -1
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@@ -337,6 +337,16 @@ PARAM_DEFINE_FLOAT(LPE_T_MAX_GRADE, 1.0f);
*/
PARAM_DEFINE_FLOAT(LPE_FGYRO_HP, 0.001f);
/**
* Enable publishing of a fake global position (e.g for AUTO missions using Optical Flow)
* by initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable
*
* @group Local Position Estimator
* @min 0
* @max 1
*/
PARAM_DEFINE_INT32(LPE_FAKE_ORIGIN, 1);
/**
* Local origin latitude for nav w/o GPS
*
@@ -441,4 +451,4 @@ PARAM_DEFINE_FLOAT(LPE_LAND_VXY, 0.05f);
* @bit 6 flow gyro compensation
* @bit 7 fuse baro
*/
PARAM_DEFINE_INT32(LPE_FUSION, 247);
PARAM_DEFINE_INT32(LPE_FUSION, 247);