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 *
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 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
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/*
 * @file position_estimator_inav_params.c
 *
 * @author Anton Babushkin <rk3dov@gmail.com>
 *
 * Parameters definition for position_estimator_inav
 */

#pragma once

#include <systemlib/param/param.h>

struct position_estimator_inav_params {
	float w_z_baro;
	float w_z_gps_p;
	float w_z_gps_v;
	float w_z_vision_p;
	float w_z_lidar;
	float w_xy_gps_p;
	float w_xy_gps_v;
	float w_xy_vision_p;
	float w_xy_vision_v;
	float w_mocap_p;
	float w_xy_flow;
	float w_xy_res_v;
	float w_gps_flow;
	float w_acc_bias;
	float flow_k;
	float flow_q_min;
	float lidar_err;
	float land_t;
	float land_disp;
	float land_thr;
	int32_t no_vision;
	float delay_gps;
	float flow_module_offset_x;
	float flow_module_offset_y;
	int32_t disable_mocap;
	int32_t enable_lidar_alt_est;
	float lidar_calibration_offset;
	int32_t att_ext_hdg_m;
};

struct position_estimator_inav_param_handles {
	param_t w_z_baro;
	param_t w_z_gps_p;
	param_t w_z_gps_v;
	param_t w_z_vision_p;
	param_t w_z_lidar;
	param_t w_xy_gps_p;
	param_t w_xy_gps_v;
	param_t w_xy_vision_p;
	param_t w_xy_vision_v;
	param_t w_mocap_p;
	param_t w_xy_flow;
	param_t w_xy_res_v;
	param_t w_gps_flow;
	param_t w_acc_bias;
	param_t flow_k;
	param_t flow_q_min;
	param_t lidar_err;
	param_t land_t;
	param_t land_disp;
	param_t land_thr;
	param_t no_vision;
	param_t delay_gps;
	param_t flow_module_offset_x;
	param_t flow_module_offset_y;
	param_t disable_mocap;
	param_t enable_lidar_alt_est;
	param_t lidar_calibration_offset;
	param_t att_ext_hdg_m;
};

#define CBRK_NO_VISION_KEY	328754

/**
 * Initialize all parameter handles and values
 *
 */
int inav_parameters_init(struct position_estimator_inav_param_handles *h);

/**
 * Update all parameters
 *
 */
int inav_parameters_update(const struct position_estimator_inav_param_handles *h,
			   struct position_estimator_inav_params *p);
