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   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
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   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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  /*
   * @file position_estimator_inav_params.c
   *
   * @author Anton Babushkin <rk3dov@gmail.com>
   *
   * Parameters for position_estimator_inav
   */
  
  #include "position_estimator_inav_params.h"
  
  /**
   * Z axis weight for barometer
   *
   * Weight (cutoff frequency) for barometer altitude measurements.
   *
   * @min 0.0
   * @max 10.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 0.5f);
  
  /**
   * Z axis weight for GPS
   *
   * Weight (cutoff frequency) for GPS altitude measurements. GPS altitude data is very noisy and should be used only as slow correction for baro offset.
   *
   * @min 0.0
   * @max 10.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f);
  
  /**
   * Z axis weight for vision
   *
   * Weight (cutoff frequency) for vision altitude measurements. vision altitude data is very noisy and should be used only as slow correction for baro offset.
   *
   * @min 0.0
   * @max 10.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_Z_VIS_P, 0.5f);
  
  /**
   * Z axis weight for sonar
   *
   * Weight (cutoff frequency) for sonar measurements.
   *
   * @min 0.0
   * @max 10.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f);
  
  /**
   * XY axis weight for GPS position
   *
   * Weight (cutoff frequency) for GPS position measurements.
   *
   * @min 0.0
   * @max 10.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f);
  
  /**
   * XY axis weight for GPS velocity
   *
   * Weight (cutoff frequency) for GPS velocity measurements.
   *
   * @min 0.0
   * @max 10.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
  
  /**
   * XY axis weight for vision position
   *
   * Weight (cutoff frequency) for vision position measurements.
   *
   * @min 0.0
   * @max 10.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 7.0f);
  
  /**
   * XY axis weight for vision velocity
   *
   * Weight (cutoff frequency) for vision velocity measurements.
   *
   * @min 0.0
   * @max 10.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_V, 0.0f);
  
  /**
   * XY axis weight for optical flow
   *
   * Weight (cutoff frequency) for optical flow (velocity) measurements.
   *
   * @min 0.0
   * @max 10.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f);
  
  /**
   * XY axis weight for resetting velocity
   *
   * When velocity sources lost slowly decrease estimated horizontal velocity with this weight.
   *
   * @min 0.0
   * @max 10.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_XY_RES_V, 0.5f);
  
  /**
   * XY axis weight factor for GPS when optical flow available
   *
   * When optical flow data available, multiply GPS weights (for position and velocity) by this factor.
   *
   * @min 0.0
   * @max 1.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f);
  
  /**
   * Accelerometer bias estimation weight
   *
   * Weight (cutoff frequency) for accelerometer bias estimation. 0 to disable.
   *
   * @min 0.0
   * @max 0.1
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
  
  /**
   * Optical flow scale factor
   *
   * Factor to convert raw optical flow (in pixels) to radians [rad/px].
   *
   * @min 0.0
   * @max 1.0
   * @unit rad/px
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f);
  
  /**
   * Minimal acceptable optical flow quality
   *
   * 0 - lowest quality, 1 - best quality.
   *
   * @min 0.0
   * @max 1.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f);
  
  /**
   * Weight for sonar filter
   *
   * Sonar filter detects spikes on sonar measurements and used to detect new surface level.
   *
   * @min 0.0
   * @max 1.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f);
  
  /**
   * Sonar maximal error for new surface
   *
   * If sonar measurement error is larger than this value it skiped (spike) or accepted as new surface level (if offset is stable).
   *
   * @min 0.0
   * @max 1.0
   * @unit m
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_SONAR_ERR, 0.5f);
  
  /**
   * Land detector time
   *
   * Vehicle assumed landed if no altitude changes happened during this time on low throttle.
   *
   * @min 0.0
   * @max 10.0
   * @unit s
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_LAND_T, 3.0f);
  
  /**
   * Land detector altitude dispersion threshold
   *
   * Dispersion threshold for triggering land detector.
   *
   * @min 0.0
   * @max 10.0
   * @unit m
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_LAND_DISP, 0.7f);
  
  /**
   * Land detector throttle threshold
   *
   * Value should be lower than minimal hovering thrust. Half of it is good choice.
   *
   * @min 0.0
   * @max 1.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_LAND_THR, 0.2f);
  
  /**
   * GPS delay
   *
   * GPS delay compensation
   *
   * @min 0.0
   * @max 1.0
   * @unit s
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_FLOAT(INAV_DELAY_GPS, 0.2f);
  
  /**
   * Disable vision input
   *
   * Set to the appropriate key (328754) to disable vision input.
   *
   * @min 0.0
   * @max 1.0
   * @group Position Estimator INAV
   */
  PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
  
  int parameters_init(struct position_estimator_inav_param_handles *h)
  {
  	h->w_z_baro = param_find("INAV_W_Z_BARO");
  	h->w_z_gps_p = param_find("INAV_W_Z_GPS_P");
  	h->w_z_vision_p = param_find("INAV_W_Z_VIS_P");
  	h->w_z_sonar = param_find("INAV_W_Z_SONAR");
  	h->w_xy_gps_p = param_find("INAV_W_XY_GPS_P");
  	h->w_xy_gps_v = param_find("INAV_W_XY_GPS_V");
  	h->w_xy_vision_p = param_find("INAV_W_XY_VIS_P");
  	h->w_xy_vision_v = param_find("INAV_W_XY_VIS_V");
  	h->w_xy_flow = param_find("INAV_W_XY_FLOW");
  	h->w_xy_res_v = param_find("INAV_W_XY_RES_V");
  	h->w_gps_flow = param_find("INAV_W_GPS_FLOW");
  	h->w_acc_bias = param_find("INAV_W_ACC_BIAS");
  	h->flow_k = param_find("INAV_FLOW_K");
  	h->flow_q_min = param_find("INAV_FLOW_Q_MIN");
  	h->sonar_filt = param_find("INAV_SONAR_FILT");
  	h->sonar_err = param_find("INAV_SONAR_ERR");
  	h->land_t = param_find("INAV_LAND_T");
  	h->land_disp = param_find("INAV_LAND_DISP");
  	h->land_thr = param_find("INAV_LAND_THR");
  	h->no_vision = param_find("CBRK_NO_VISION");
  	h->delay_gps = param_find("INAV_DELAY_GPS");
  
  	return OK;
  }
  
  int parameters_update(const struct position_estimator_inav_param_handles *h, struct position_estimator_inav_params *p)
  {
  	param_get(h->w_z_baro, &(p->w_z_baro));
  	param_get(h->w_z_gps_p, &(p->w_z_gps_p));
  	param_get(h->w_z_vision_p, &(p->w_z_vision_p));
  	param_get(h->w_z_sonar, &(p->w_z_sonar));
  	param_get(h->w_xy_gps_p, &(p->w_xy_gps_p));
  	param_get(h->w_xy_gps_v, &(p->w_xy_gps_v));
  	param_get(h->w_xy_vision_p, &(p->w_xy_vision_p));
  	param_get(h->w_xy_vision_v, &(p->w_xy_vision_v));
  	param_get(h->w_xy_flow, &(p->w_xy_flow));
  	param_get(h->w_xy_res_v, &(p->w_xy_res_v));
  	param_get(h->w_gps_flow, &(p->w_gps_flow));
  	param_get(h->w_acc_bias, &(p->w_acc_bias));
  	param_get(h->flow_k, &(p->flow_k));
  	param_get(h->flow_q_min, &(p->flow_q_min));
  	param_get(h->sonar_filt, &(p->sonar_filt));
  	param_get(h->sonar_err, &(p->sonar_err));
  	param_get(h->land_t, &(p->land_t));
  	param_get(h->land_disp, &(p->land_disp));
  	param_get(h->land_thr, &(p->land_thr));
  	param_get(h->no_vision, &(p->no_vision));
  	param_get(h->delay_gps, &(p->delay_gps));
  
  	return OK;
  }
  