params.c File Reference

#include <parameters/param.h>

Include dependency graph for params.c:

Go to the source code of this file.

Functions
	PARAM_DEFINE_FLOAT (LPE_FLW_OFF_Z, 0.0f)
	Optical flow z offset from center. More...
	PARAM_DEFINE_FLOAT (LPE_FLW_SCALE, 1.3f)
	Optical flow scale. More...
	PARAM_DEFINE_FLOAT (LPE_FLW_R, 7.0f)
	Optical flow rotation (roll/pitch) noise gain. More...
	PARAM_DEFINE_FLOAT (LPE_FLW_RR, 7.0f)
	Optical flow angular velocity noise gain. More...
	PARAM_DEFINE_INT32 (LPE_FLW_QMIN, 150)
	Optical flow minimum quality threshold. More...
	PARAM_DEFINE_FLOAT (LPE_SNR_Z, 0.05f)
	Sonar z standard deviation. More...
	PARAM_DEFINE_FLOAT (LPE_SNR_OFF_Z, 0.00f)
	Sonar z offset from center of vehicle +down. More...
	PARAM_DEFINE_FLOAT (LPE_LDR_Z, 0.03f)
	Lidar z standard deviation. More...
	PARAM_DEFINE_FLOAT (LPE_LDR_OFF_Z, 0.00f)
	Lidar z offset from center of vehicle +down. More...
	PARAM_DEFINE_FLOAT (LPE_ACC_XY, 0.012f)
	Accelerometer xy noise density. More...
	PARAM_DEFINE_FLOAT (LPE_ACC_Z, 0.02f)
	Accelerometer z noise density. More...
	PARAM_DEFINE_FLOAT (LPE_BAR_Z, 3.0f)
	Barometric presssure altitude z standard deviation. More...
	PARAM_DEFINE_FLOAT (LPE_GPS_DELAY, 0.29f)
	GPS delay compensaton. More...
	PARAM_DEFINE_FLOAT (LPE_GPS_XY, 1.0f)
	Minimum GPS xy standard deviation, uses reported EPH if greater. More...
	PARAM_DEFINE_FLOAT (LPE_GPS_Z, 3.0f)
	Minimum GPS z standard deviation, uses reported EPV if greater. More...
	PARAM_DEFINE_FLOAT (LPE_GPS_VXY, 0.25f)
	GPS xy velocity standard deviation. More...
	PARAM_DEFINE_FLOAT (LPE_GPS_VZ, 0.25f)
	GPS z velocity standard deviation. More...
	PARAM_DEFINE_FLOAT (LPE_EPH_MAX, 3.0f)
	Max EPH allowed for GPS initialization. More...
	PARAM_DEFINE_FLOAT (LPE_EPV_MAX, 5.0f)
	Max EPV allowed for GPS initialization. More...
	PARAM_DEFINE_FLOAT (LPE_VIS_DELAY, 0.1f)
	Vision delay compensaton. More...
	PARAM_DEFINE_FLOAT (LPE_VIS_XY, 0.1f)
	Vision xy standard deviation. More...
	PARAM_DEFINE_FLOAT (LPE_VIS_Z, 0.5f)
	Vision z standard deviation. More...
	PARAM_DEFINE_FLOAT (LPE_VIC_P, 0.001f)
	Vicon position standard deviation. More...
	PARAM_DEFINE_FLOAT (LPE_PN_P, 0.1f)
	Position propagation noise density. More...
	PARAM_DEFINE_FLOAT (LPE_PN_V, 0.1f)
	Velocity propagation noise density. More...
	PARAM_DEFINE_FLOAT (LPE_PN_B, 1e-3f)
	Accel bias propagation noise density. More...
	PARAM_DEFINE_FLOAT (LPE_PN_T, 0.001f)
	Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001) More...
	PARAM_DEFINE_FLOAT (LPE_T_MAX_GRADE, 1.0f)
	Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg) Used to calculate increased terrain random walk nosie due to movement. More...
	PARAM_DEFINE_FLOAT (LPE_FGYRO_HP, 0.001f)
	Flow gyro high pass filter cut off frequency. More...
	PARAM_DEFINE_INT32 (LPE_FAKE_ORIGIN, 0)
	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. More...
	PARAM_DEFINE_FLOAT (LPE_LAT, 47.397742f)
	Local origin latitude for nav w/o GPS. More...
	PARAM_DEFINE_FLOAT (LPE_LON, 8.545594)
	Local origin longitude for nav w/o GPS. More...
	PARAM_DEFINE_FLOAT (LPE_X_LP, 5.0f)
	Cut frequency for state publication. More...
	PARAM_DEFINE_FLOAT (LPE_VXY_PUB, 0.3f)
	Required velocity xy standard deviation to publish position. More...
	PARAM_DEFINE_FLOAT (LPE_Z_PUB, 1.0f)
	Required z standard deviation to publish altitude/ terrain. More...
	PARAM_DEFINE_FLOAT (LPE_LAND_Z, 0.03f)
	Land detector z standard deviation. More...
	PARAM_DEFINE_FLOAT (LPE_LAND_VXY, 0.05f)
	Land detector xy velocity standard deviation. More...
	PARAM_DEFINE_FLOAT (LPE_LT_COV, 0.0001f)
	Minimum landing target standard covariance, uses reported covariance if greater. More...
	PARAM_DEFINE_INT32 (LPE_FUSION, 145)
	Integer bitmask controlling data fusion. More...

Function Documentation

PARAM_DEFINE_FLOAT() [1/36]

PARAM_DEFINE_FLOAT	(	LPE_FLW_OFF_Z	,
		0.	0f
	)

Optical flow z offset from center.

Local Position Estimator m -1 1 3

PARAM_DEFINE_FLOAT() [2/36]

PARAM_DEFINE_FLOAT	(	LPE_FLW_SCALE	,
		1.	3f
	)

Optical flow scale.

Local Position Estimator m 0.1 10.0 3

PARAM_DEFINE_FLOAT() [3/36]

PARAM_DEFINE_FLOAT	(	LPE_FLW_R	,
		7.	0f
	)

Optical flow rotation (roll/pitch) noise gain.

Local Position Estimator m/s / (rad) 0.1 10.0 3

PARAM_DEFINE_FLOAT() [4/36]

PARAM_DEFINE_FLOAT	(	LPE_FLW_RR	,
		7.	0f
	)

Optical flow angular velocity noise gain.

Local Position Estimator m/s / (rad/s) 0.0 10.0 3

PARAM_DEFINE_FLOAT() [5/36]

PARAM_DEFINE_FLOAT	(	LPE_SNR_Z	,
		0.	05f
	)

Sonar z standard deviation.

Local Position Estimator m 0.01 1 3

PARAM_DEFINE_FLOAT() [6/36]

PARAM_DEFINE_FLOAT	(	LPE_SNR_OFF_Z	,
		0.	00f
	)

Sonar z offset from center of vehicle +down.

Local Position Estimator m -1 1 3

PARAM_DEFINE_FLOAT() [7/36]

PARAM_DEFINE_FLOAT	(	LPE_LDR_Z	,
		0.	03f
	)

Lidar z standard deviation.

Local Position Estimator m 0.01 1 3

PARAM_DEFINE_FLOAT() [8/36]

PARAM_DEFINE_FLOAT	(	LPE_LDR_OFF_Z	,
		0.	00f
	)

Lidar z offset from center of vehicle +down.

Local Position Estimator m -1 1 3

PARAM_DEFINE_FLOAT() [9/36]

PARAM_DEFINE_FLOAT	(	LPE_ACC_XY	,
		0.	012f
	)

Accelerometer xy noise density.

Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)

Larger than data sheet to account for tilt error.

Local Position Estimator m/s^2/sqrt(Hz) 0.00001 2 4

PARAM_DEFINE_FLOAT() [10/36]

PARAM_DEFINE_FLOAT	(	LPE_ACC_Z	,
		0.	02f
	)

Accelerometer z noise density.

Data sheet noise density = 150ug/sqrt(Hz) = 0.0015 m/s^2/sqrt(Hz)

Local Position Estimator m/s^2/sqrt(Hz) 0.00001 2 4

PARAM_DEFINE_FLOAT() [11/36]

PARAM_DEFINE_FLOAT	(	LPE_BAR_Z	,
		3.	0f
	)

Barometric presssure altitude z standard deviation.

Local Position Estimator m 0.01 100 2

PARAM_DEFINE_FLOAT() [12/36]

PARAM_DEFINE_FLOAT	(	LPE_GPS_DELAY	,
		0.	29f
	)

GPS delay compensaton.

Local Position Estimator sec 0 0.4 2

PARAM_DEFINE_FLOAT() [13/36]

PARAM_DEFINE_FLOAT	(	LPE_GPS_XY	,
		1.	0f
	)

Minimum GPS xy standard deviation, uses reported EPH if greater.

Local Position Estimator m 0.01 5 2

PARAM_DEFINE_FLOAT() [14/36]

PARAM_DEFINE_FLOAT	(	LPE_GPS_Z	,
		3.	0f
	)

Minimum GPS z standard deviation, uses reported EPV if greater.

Local Position Estimator m 0.01 200 2

PARAM_DEFINE_FLOAT() [15/36]

PARAM_DEFINE_FLOAT	(	LPE_GPS_VXY	,
		0.	25f
	)

GPS xy velocity standard deviation.

EPV used if greater than this value.

Local Position Estimator m/s 0.01 2 3

PARAM_DEFINE_FLOAT() [16/36]

PARAM_DEFINE_FLOAT	(	LPE_GPS_VZ	,
		0.	25f
	)

GPS z velocity standard deviation.

Local Position Estimator m/s 0.01 2 3

PARAM_DEFINE_FLOAT() [17/36]

PARAM_DEFINE_FLOAT	(	LPE_EPH_MAX	,
		3.	0f
	)

Max EPH allowed for GPS initialization.

Local Position Estimator m 1.0 5.0 3

PARAM_DEFINE_FLOAT() [18/36]

PARAM_DEFINE_FLOAT	(	LPE_EPV_MAX	,
		5.	0f
	)

Max EPV allowed for GPS initialization.

Local Position Estimator m 1.0 5.0 3

PARAM_DEFINE_FLOAT() [19/36]

PARAM_DEFINE_FLOAT	(	LPE_VIS_DELAY	,
		0.	1f
	)

Vision delay compensaton.

Set to zero to enable automatic compensation from measurement timestamps

Local Position Estimator sec 0 0.1 2

PARAM_DEFINE_FLOAT() [20/36]

PARAM_DEFINE_FLOAT	(	LPE_VIS_XY	,
		0.	1f
	)

Vision xy standard deviation.

Local Position Estimator m 0.01 1 3

PARAM_DEFINE_FLOAT() [21/36]

PARAM_DEFINE_FLOAT	(	LPE_VIS_Z	,
		0.	5f
	)

Vision z standard deviation.

Local Position Estimator m 0.01 100 3

PARAM_DEFINE_FLOAT() [22/36]

PARAM_DEFINE_FLOAT	(	LPE_VIC_P	,
		0.	001f
	)

Vicon position standard deviation.

Local Position Estimator m 0.0001 1 4

PARAM_DEFINE_FLOAT() [23/36]

PARAM_DEFINE_FLOAT	(	LPE_PN_P	,
		0.	1f
	)

Position propagation noise density.

Increase to trust measurements more. Decrease to trust model more.

Local Position Estimator m/s/sqrt(Hz) 0 1 8

PARAM_DEFINE_FLOAT() [24/36]

PARAM_DEFINE_FLOAT	(	LPE_PN_V	,
		0.	1f
	)

Velocity propagation noise density.

Increase to trust measurements more. Decrease to trust model more.

Local Position Estimator (m/s)/s/sqrt(Hz) 0 1 8

PARAM_DEFINE_FLOAT() [25/36]

PARAM_DEFINE_FLOAT	(	LPE_PN_B	,
		1e-	3f
	)

Accel bias propagation noise density.

Local Position Estimator (m/s^2)/s/sqrt(Hz) 0 1 8

PARAM_DEFINE_FLOAT() [26/36]

PARAM_DEFINE_FLOAT	(	LPE_PN_T	,
		0.	001f
	)

Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)

Local Position Estimator (m/s)/(sqrt(hz)) 0 1 3

PARAM_DEFINE_FLOAT() [27/36]

PARAM_DEFINE_FLOAT	(	LPE_T_MAX_GRADE	,
		1.	0f
	)

Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg) Used to calculate increased terrain random walk nosie due to movement.

Local Position Estimator % 0 100 3

PARAM_DEFINE_FLOAT() [28/36]

PARAM_DEFINE_FLOAT	(	LPE_FGYRO_HP	,
		0.	001f
	)

Flow gyro high pass filter cut off frequency.

Local Position Estimator Hz 0 2 3

PARAM_DEFINE_FLOAT() [29/36]

PARAM_DEFINE_FLOAT	(	LPE_LAT	,
		47.	397742f
	)

Local origin latitude for nav w/o GPS.

Local Position Estimator deg -90 90 8

PARAM_DEFINE_FLOAT() [30/36]

PARAM_DEFINE_FLOAT	(	LPE_LON	,
		8.	545594
	)

Local origin longitude for nav w/o GPS.

Local Position Estimator deg -180 180 8

PARAM_DEFINE_FLOAT() [31/36]

PARAM_DEFINE_FLOAT	(	LPE_X_LP	,
		5.	0f
	)

Cut frequency for state publication.

Local Position Estimator Hz 5 1000 0

PARAM_DEFINE_FLOAT() [32/36]

PARAM_DEFINE_FLOAT	(	LPE_VXY_PUB	,
		0.	3f
	)

Required velocity xy standard deviation to publish position.

Local Position Estimator m/s 0.01 1.0 3

PARAM_DEFINE_FLOAT() [33/36]

PARAM_DEFINE_FLOAT	(	LPE_Z_PUB	,
		1.	0f
	)

Required z standard deviation to publish altitude/ terrain.

Local Position Estimator m 0.3 5.0 1

PARAM_DEFINE_FLOAT() [34/36]

PARAM_DEFINE_FLOAT	(	LPE_LAND_Z	,
		0.	03f
	)

Land detector z standard deviation.

Local Position Estimator m 0.001 10.0 3

PARAM_DEFINE_FLOAT() [35/36]

PARAM_DEFINE_FLOAT	(	LPE_LAND_VXY	,
		0.	05f
	)

Land detector xy velocity standard deviation.

Local Position Estimator m/s 0.01 10.0 3

PARAM_DEFINE_FLOAT() [36/36]

PARAM_DEFINE_FLOAT	(	LPE_LT_COV	,
		0.	0001f
	)

Minimum landing target standard covariance, uses reported covariance if greater.

Local Position Estimator m^2 0.0 10 2

PARAM_DEFINE_INT32() [1/3]

PARAM_DEFINE_INT32	(	LPE_FLW_QMIN	,
		150
	)

Optical flow minimum quality threshold.

Local Position Estimator 0 255 0

PARAM_DEFINE_INT32() [2/3]

PARAM_DEFINE_INT32	(	LPE_FAKE_ORIGIN	,
		0
	)

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.

Local Position Estimator 0 1

PARAM_DEFINE_INT32() [3/3]

PARAM_DEFINE_INT32	(	LPE_FUSION	,
		145
	)

Integer bitmask controlling data fusion.

Set bits in the following positions to enable: 0 : Set to true to fuse GPS data if available, also requires GPS for altitude init 1 : Set to true to fuse optical flow data if available 2 : Set to true to fuse vision position 3 : Set to true to enable landing target 4 : Set to true to fuse land detector 5 : Set to true to publish AGL as local position down component 6 : Set to true to enable flow gyro compensation 7 : Set to true to enable baro fusion

default (145 - GPS, baro, land detector)

Local Position Estimator 0 255 0 fuse GPS, requires GPS for alt. init 1 fuse optical flow 2 fuse vision position 3 fuse landing target 4 fuse land detector 5 pub agl as lpos down 6 flow gyro compensation 7 fuse baro