/****************************************************************************
 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 *   Author: Tobias Naegeli <naegelit@student.ethz.ch>
 *           Lorenz Meier <lm@inf.ethz.ch>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 *
 ****************************************************************************/

/*
 * @file attitude_estimator_ekf_params.h
 *
 * Parameters for EKF filter
 */

#include <systemlib/param/param.h>

struct attitude_estimator_ekf_params {
	float r[3];
	float q[4];
	float moment_inertia_J[9];
	int32_t use_moment_inertia;
	float roll_off;
	float pitch_off;
	float yaw_off;
	float mag_decl;
	int acc_comp;
};

struct attitude_estimator_ekf_param_handles {
	param_t r0, r1, r2;
	param_t q0, q1, q2, q3;
	param_t moment_inertia_J[3]; /**< diagonal entries of the matrix */
	param_t use_moment_inertia;
	param_t mag_decl;
	param_t acc_comp;
};

/**
 * Initialize all parameter handles and values
 *
 */
int parameters_init(struct attitude_estimator_ekf_param_handles *h);

/**
 * Update all parameters
 *
 */
int parameters_update(const struct attitude_estimator_ekf_param_handles *h, struct attitude_estimator_ekf_params *p);
