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 * modification, are permitted provided that the following conditions
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 *
 * 1. Redistributions of source code must retain the above copyright
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 *    notice, this list of conditions and the following disclaimer in
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 *    used to endorse or promote products derived from this software
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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 velocity weight for GPS
 *
 * Weight (cutoff frequency) for GPS altitude velocity measurements.
 *
 * @min 0.0
 * @max 10.0
 * @group Position Estimator INAV
 */
PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_V, 0.0f);

/**
 * 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, 5.0f);

/**
 * Z axis weight for lidar
 *
 * Weight (cutoff frequency) for lidar measurements.
 *
 * @min 0.0
 * @max 10.0
 * @group Position Estimator INAV
 */
PARAM_DEFINE_FLOAT(INAV_W_Z_LIDAR, 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);

/**
 * Weight for mocap system
 *
 * Weight (cutoff frequency) for mocap position measurements.
 *
 * @min 0.0
 * @max 10.0
 * @group Position Estimator INAV
 */

PARAM_DEFINE_FLOAT(INAV_W_MOC_P, 10.0f);

/**
 * 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, 0.8f);

/**
 * 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 scale optical flow
 *
 * @min 0.0
 * @max 10.0
 * @group Position Estimator INAV
 */
PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.35f);

/**
 * 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, 0.3f);

/**
 * 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_LIDAR_ERR, 0.2f);

/**
 * 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);

/**
 * Flow module offset (center of rotation) in X direction
 *
 * Yaw X flow compensation
 *
 * @min -1.0
 * @max 1.0
 * @unit m
 * @group Position Estimator INAV
 */
PARAM_DEFINE_FLOAT(INAV_FLOW_DIST_X, 0.0f);

/**
 * Flow module offset (center of rotation) in Y direction
 *
 * Yaw Y flow compensation
 *
 * @min -1.0
 * @max 1.0
 * @unit m
 * @group Position Estimator INAV
 */
PARAM_DEFINE_FLOAT(INAV_FLOW_DIST_Y, 0.0f);

/**
 * Mo-cap
 *
 * Set to 0 if using fake GPS
 *
 * @value 0 Mo-cap enabled
 * @value 1 Mo-cap disabled
 * @group Position Estimator INAV
 */
PARAM_DEFINE_FLOAT(INAV_DISAB_MOCAP, 0);

/**
 * LIDAR for altitude estimation
 *
 * @boolean
 * @group Position Estimator INAV
 */
PARAM_DEFINE_FLOAT(INAV_LIDAR_EST, 0);

/**
 * LIDAR calibration offset
 *
 * LIDAR calibration offset. Value will be added to the measured distance
 *
 * @min -20
 * @max 20
 * @unit m
 * @group Position Estimator INAV
 */
PARAM_DEFINE_FLOAT(INAV_LIDAR_OFF, 0.0f);

/**
 * Disable vision input
 *
 * Set to the appropriate key (328754) to disable vision input.
 *
 * @reboot_required true
 * @min 0
 * @max 328754
 * @category Developer
 * @group Position Estimator INAV
 */
PARAM_DEFINE_INT32(CBRK_NO_VISION, 0);
