mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-12 17:10:35 +08:00
Lorenz Meier
347 lines
7.8 KiB
C
347 lines
7.8 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/*
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* @file position_estimator_inav_params.c
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*
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* @author Anton Babushkin <rk3dov@gmail.com>
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*
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* Parameters for position_estimator_inav
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*/
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#include "position_estimator_inav_params.h"
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/**
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* Z axis weight for barometer
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*
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* Weight (cutoff frequency) for barometer altitude measurements.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
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/**
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* Z axis weight for GPS
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*
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* Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
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/**
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* Z velocity weight for GPS
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*
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* Weight (cutoff frequency) for GPS altitude velocity measurements.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_V, 0.0f);
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/**
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* Z axis weight for vision
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*
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* Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_Z_VIS_P, 5.0f);
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/**
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* Z axis weight for lidar
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*
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* Weight (cutoff frequency) for lidar measurements.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_Z_LIDAR, 3.0f);
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/**
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* XY axis weight for GPS position
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*
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* Weight (cutoff frequency) for GPS position measurements.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
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/**
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* XY axis weight for GPS velocity
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*
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* Weight (cutoff frequency) for GPS velocity measurements.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
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/**
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* XY axis weight for vision position
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*
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* Weight (cutoff frequency) for vision position measurements.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 7.0f);
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/**
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* XY axis weight for vision velocity
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*
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* Weight (cutoff frequency) for vision velocity measurements.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_V, 0.0f);
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/**
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* Weight for mocap system
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*
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* Weight (cutoff frequency) for mocap position measurements.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_MOC_P, 10.0f);
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/**
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* XY axis weight for optical flow
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*
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* Weight (cutoff frequency) for optical flow (velocity) measurements.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 0.8f);
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/**
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* XY axis weight for resetting velocity
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*
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* When velocity sources lost slowly decrease estimated horizontal velocity with this weight.
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f);
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/**
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* XY axis weight factor for GPS when optical flow available
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*
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* When optical flow data available, multiply GPS weights (for position and velocity) by this factor.
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*
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* @min 0.0
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* @max 1.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
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/**
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* Accelerometer bias estimation weight
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*
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* Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.
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*
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* @min 0.0
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* @max 0.1
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
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/**
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* Optical flow scale factor
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*
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* Factor to scale optical flow
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*
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* @min 0.0
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* @max 10.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.35f);
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/**
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* Minimal acceptable optical flow quality
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*
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* 0 - lowest quality, 1 - best quality.
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*
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* @min 0.0
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* @max 1.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.3f);
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/**
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* Sonar maximal error for new surface
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*
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* If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).
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*
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* @min 0.0
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* @max 1.0
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* @unit m
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_LIDAR_ERR, 0.2f);
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/**
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* Land detector time
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*
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* Vehicle assumed landed if no altitude changes happened during this time on low throttle.
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*
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* @min 0.0
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* @max 10.0
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* @unit s
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
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/**
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* Land detector altitude dispersion threshold
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*
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* Dispersion threshold for triggering land detector.
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*
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* @min 0.0
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* @max 10.0
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* @unit m
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
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/**
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* Land detector throttle threshold
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*
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* Value should be lower than minimal hovering thrust. Half of it is good choice.
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*
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* @min 0.0
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* @max 1.0
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
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/**
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* GPS delay
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*
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* GPS delay compensation
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*
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* @min 0.0
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* @max 1.0
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* @unit s
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
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/**
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* Flow module offset (center of rotation) in X direction
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*
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* Yaw X flow compensation
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*
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* @min -1.0
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* @max 1.0
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* @unit m
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_FLOW_DIST_X, 0.0f);
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/**
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* Flow module offset (center of rotation) in Y direction
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*
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* Yaw Y flow compensation
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*
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* @min -1.0
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* @max 1.0
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* @unit m
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_FLOW_DIST_Y, 0.0f);
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/**
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* Mo-cap
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*
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* Set to 0 if using fake GPS
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*
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* @value 0 Mo-cap enabled
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* @value 1 Mo-cap disabled
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_DISAB_MOCAP, 0);
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/**
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* LIDAR for altitude estimation
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*
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* @boolean
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_LIDAR_EST, 0);
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/**
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* LIDAR calibration offset
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*
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* LIDAR calibration offset. Value will be added to the measured distance
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*
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* @min -20
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* @max 20
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* @unit m
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_FLOAT(INAV_LIDAR_OFF, 0.0f);
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/**
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* 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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* @reboot_required true
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* @min 0
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* @max 328754
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* @category Developer
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* @group Position Estimator INAV
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*/
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PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
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