added a offset parameter for lidar in inav

src/modules/position_estimator_inav/position_estimator_inav_main.cpp

@@ -543,6 +543,7 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 			/* update lidar separately, needed by terrain estimator */
 			if (updated) {
 				orb_copy(ORB_ID(distance_sensor), distance_sensor_sub, &lidar);
+				lidar.current_distance += params.lidar_calibration_offset;
 			}
 			
 			if (updated) { //check if altitude estimation for lidar is enabled and new sensor data

src/modules/position_estimator_inav/position_estimator_inav_params.cpp

@@ -323,6 +323,18 @@ PARAM_DEFINE_FLOAT(INAV_DISAB_MOCAP, 0);
  */
 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
  *
@@ -375,6 +387,7 @@ int inav_parameters_init(struct position_estimator_inav_param_handles *h)
 	h->flow_module_offset_y = param_find("INAV_FLOW_DIST_Y");
 	h->disable_mocap = param_find("INAV_DISAB_MOCAP");
 	h->enable_lidar_alt_est = param_find("INAV_LIDAR_EST");
+	h->lidar_calibration_offset = param_find("INAV_LIDAR_OFF");
 	h->att_ext_hdg_m = param_find("ATT_EXT_HDG_M");
 
 	return 0;
@@ -409,6 +422,7 @@ int inav_parameters_update(const struct position_estimator_inav_param_handles *h
 	param_get(h->flow_module_offset_y, &(p->flow_module_offset_y));
 	param_get(h->disable_mocap, &(p->disable_mocap));
 	param_get(h->enable_lidar_alt_est, &(p->enable_lidar_alt_est));
+	param_get(h->lidar_calibration_offset, &(p->lidar_calibration_offset));
 	param_get(h->att_ext_hdg_m, &(p->att_ext_hdg_m));
 
 	return 0;

src/modules/position_estimator_inav/position_estimator_inav_params.h

@@ -68,6 +68,7 @@ struct position_estimator_inav_params {
 	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;
 };
 
@@ -98,6 +99,7 @@ struct position_estimator_inav_param_handles {
 	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;
 };