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45 lines
1.5 KiB
45 lines
1.5 KiB
/* |
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APM_AHRS.cpp |
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This library is free software; you can redistribute it and/or |
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modify it under the terms of the GNU Lesser General Public License |
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as published by the Free Software Foundation; either version 2.1 |
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of the License, or (at your option) any later version. |
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*/ |
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#include <FastSerial.h> |
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#include <AP_AHRS.h> |
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// table of user settable parameters |
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const AP_Param::GroupInfo AP_AHRS::var_info[] PROGMEM = { |
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// index 0 and 1 are for old parameters that are no longer used |
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// @Param: GPS_GAIN |
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// @DisplayName: AHRS GPS gain |
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// @Description: This controls how how much to use the GPS to correct the attitude |
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// @Range: 0.0 1.0 |
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// @Increment: .01 |
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AP_GROUPINFO("GPS_GAIN", 2, AP_AHRS, gps_gain, 1.0), |
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// @Param: GPS_USE |
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// @DisplayName: enable/disable use of GPS for position estimation |
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// @Description: This controls how how much to use the GPS to correct the attitude. This is for testing the dead-reckoning code |
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// @User: Advanced |
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AP_GROUPINFO("GPS_USE", 3, AP_AHRS, _gps_use, 1), |
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// @Param: YAW_P |
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// @DisplayName: Yaw P |
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// @Description: This controls the weight the compass has on the overall heading |
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// @Range: 0 .4 |
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// @Increment: .01 |
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AP_GROUPINFO("YAW_P", 4, AP_AHRS, _kp_yaw, 0.4), |
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// @Param: RP_P |
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// @DisplayName: AHRS RP_P |
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// @Description: This controls how fast the accelerometers correct the attitude |
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// @Range: 0 .4 |
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// @Increment: .01 |
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AP_GROUPINFO("RP_P", 5, AP_AHRS, _kp, 0.4), |
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AP_GROUPEND |
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};
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