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migrate wind process noise parameters

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bresch
2022-06-09 14:25:56 +02:00
committed by Paul Riseborough
parent 0d256b8ff6
commit b6f1a7aed9
1 changed files with 25 additions and 0 deletions
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src/lib/parameters/param_translation.cpp
+25
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@@ -212,5 +212,30 @@ bool param_modify_on_import(bson_node_t node)
}
}
// 2022-06-09: migrate EKF2_WIND_NOISE->EKF2_WIND_NSD
{
if (strcmp("EKF2_WIND_NOISE", node->name) == 0) {
node->d /= 10.0; // at 100Hz (EKF2 rate), NSD is sqrt(100) times smaller than std_dev
strcpy(node->name, "EKF2_WIND_NSD");
PX4_INFO("param migrating EKF2_WIND_NOISE (removed) -> EKF2_WIND_NSD: value=%.3f", node->d);
return true;
}
}
// 2022-06-09: translate ASPD_SC_P_NOISE->ASPD_SCALE_NSD and ASPD_W_P_NOISE->ASPD_WIND_NSD
{
if (strcmp("ASPD_SC_P_NOISE", node->name) == 0) {
strcpy(node->name, "ASPD_SCALE_NSD");
PX4_INFO("copying %s -> %s", "ASPD_SC_P_NOISE", "ASPD_SCALE_NSD");
return true;
}
if (strcmp("ASPD_W_P_NOISE", node->name) == 0) {
strcpy(node->name, "ASPD_WIND_NSD");
PX4_INFO("copying %s -> %s", "ASPD_W_P_NOISE", "ASPD_WIND_NSD");
return true;
}
}
return false;
}