Commit f3b0b41a authored by Lorenz Meier's avatar Lorenz Meier
Browse files

Make INAV configurable

parent 8831e258
......@@ -4,10 +4,15 @@
# att & pos estimator, att & pos control.
#
# previously (2014) the system was relying on
#attitude_estimator_ekf start
#position_estimator_inav start
ekf_att_pos_estimator start
# previously (2014) the system was relying on
# INAV, which defaults to 0 now.
if param compare INAV_ENABLED 1
then
attitude_estimator_ekf start
position_estimator_inav start
else
ekf_att_pos_estimator start
fi
if mc_att_control start
then
......
......@@ -288,6 +288,20 @@ PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
*/
PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
/**
* INAV enabled
*
* If set to 1, use INAV for position estimation
* the system uses the compined attitude / position
* filter framework.
*
* @min 0.0
* @max 1.0
* @unit s
* @group Position Estimator INAV
*/
PARAM_DEFINE_INT32(INAV_ENABLED, 0);
int parameters_init(struct position_estimator_inav_param_handles *h)
{
h->w_z_baro = param_find("INAV_W_Z_BARO");
......
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