mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-01 06:30:35 +08:00
Daniel Agar
295 lines
4.7 KiB
C
295 lines
4.7 KiB
C
#include <systemlib/param/param.h>
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// 16 is max name length
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/**
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* Enable local position estimator.
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*
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* @unit boolean
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* @group Local Position Estimator
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*/
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PARAM_DEFINE_INT32(LPE_ENABLED, 1);
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/**
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* Enable accelerometer integration for prediction.
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*
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* @unit boolean
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* @group Local Position Estimator
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*/
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PARAM_DEFINE_INT32(LPE_INTEGRATE, 1);
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/**
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* Optical flow z offset from center
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*
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* @group Local Position Estimator
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* @unit m
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* @min -1
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_FLW_OFF_Z, 0.0f);
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/**
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* Optical flow xy standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_FLW_XY, 0.01f);
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/**
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* Optical flow minimum quality threshold
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*
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* @group Local Position Estimator
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* @unit
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* @min 0
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* @max 255
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* @decimal 0
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*/
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PARAM_DEFINE_INT32(LPE_FLW_QMIN, 75);
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/**
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* Sonar z standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_SNR_Z, 0.05f);
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/**
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* Sonar z offset from center of vehicle +down
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*
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* @group Local Position Estimator
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* @unit m
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* @min -1
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_SNR_OFF_Z, 0.00f);
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/**
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* Lidar z standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_LDR_Z, 0.03f);
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/**
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* Lidar z offset from center of vehicle +down
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*
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* @group Local Position Estimator
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* @unit m
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* @min -1
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_LDR_OFF_Z, 0.00f);
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/**
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* Accelerometer xy standard deviation
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*
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* Data sheet sqrt(Noise power) = 150ug/sqrt(Hz)
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* std dev = (150*9.8*1e-6)*sqrt(1000 Hz) m/s^2
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* Since accels sampled at 1000 Hz.
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*
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* should be 0.0464
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*
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* @group Local Position Estimator
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* @unit m/s/s
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* @min 0.00001
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* @max 2
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* @decimal 4
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*/
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PARAM_DEFINE_FLOAT(LPE_ACC_XY, 0.0454f);
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/**
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* Accelerometer z standard deviation
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*
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* (see Accel x comments)
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*
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* @group Local Position Estimator
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* @unit m/s/s
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* @min 0.00001
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* @max 2
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* @decimal 4
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*/
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PARAM_DEFINE_FLOAT(LPE_ACC_Z, 0.0454f);
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/**
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* Barometric presssure altitude z standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 3
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(LPE_BAR_Z, 1.0f);
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/**
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* GPS xy standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 5
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(LPE_GPS_XY, 2.0f);
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/**
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* GPS z standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 20
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* @decimal 2
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*/
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PARAM_DEFINE_FLOAT(LPE_GPS_Z, 10.0f);
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/**
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* GPS xy velocity standard deviation.
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*
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* @group Local Position Estimator
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* @unit m/s
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* @min 0.01
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* @max 2
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_GPS_VXY, 0.25f);
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/**
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* GPS z velocity standard deviation.
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*
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* @group Local Position Estimator
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* @unit m/s
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* @min 0.01
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* @max 2
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_GPS_VZ, 0.25f);
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/**
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* GPS max eph
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*
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* @group Local Position Estimator
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* @unit m
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* @min 1.0
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* @max 5.0
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_EPH_MAX, 3.0f);
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/**
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* Vision xy standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_VIS_XY, 0.5f);
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/**
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* Vision z standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 2
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_VIS_Z, 0.5f);
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/**
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* Circuit breaker to disable vision input.
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*
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* Set to the appropriate key (328754) to disable vision input.
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*
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* @group Local Position Estimator
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* @unit
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* @min 0
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* @max 1
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* @decimal 0
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*/
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PARAM_DEFINE_INT32(LPE_NO_VISION, 0);
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/**
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* Vicon position standard deviation.
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*
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* @group Local Position Estimator
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* @unit m
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* @min 0.01
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_VIC_P, 0.05f);
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/**
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* Position propagation process noise power (variance*sampling rate).
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*
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* @group Local Position Estimator
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* @unit (m/s/s)-s
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* @min 0
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* @max 1
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(LPE_PN_P, 0.0f);
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/**
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* Velocity propagation process noise power (variance*sampling rate).
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*
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* @group Local Position Estimator
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* @unit (m/s)-s
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* @min 0
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* @max 5
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(LPE_PN_V, 0.0f);
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/**
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* Accel bias propagation process noise power (variance*sampling rate).
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*
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* @group Local Position Estimator
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* @unit (m/s)-s
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* @min 0
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* @max 1
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* @decimal 8
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*/
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PARAM_DEFINE_FLOAT(LPE_PN_B, 1e-8f);
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/**
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* Terrain random walk noise power (variance*sampling rate).
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*
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* @group Local Position Estimator
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* @unit m-s
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* @min 0
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* @max 1
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_PN_T, 1e-3f);
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/**
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* Flow gyro high pass filter cut off frequency
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*
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* @group Local Position Estimator
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* @unit Hz
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* @min 0
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* @max 2
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* @decimal 3
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*/
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PARAM_DEFINE_FLOAT(LPE_FGYRO_HP, 0.1f);
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