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docs/en/advanced_config/parameter_reference.md
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@@ -21790,6 +21790,32 @@ EKF2 selector maximum accumulated velocity threshold for comparing accelerometer
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 2.0 | m/s |
### EKF2_SENS_EN (`INT32`) {#EKF2_SENS_EN}
Sensor fusion enable bitmask.
Bitmask to control which sensor fusion sources are enabled. Sources whose bit is cleared will be disabled. Only applied while disarmed. For in-flight changes use the MAVLink command VEHICLE_CMD_ESTIMATOR_SENSOR_ENABLE or the individual CTRL params (e.g. EKF2_GPS_CTRL, EKF2_BARO_CTRL).
**Bitmask:**
- `0`: GNSS 0
- `1`: GNSS 1
- `2`: Optical flow
- `3`: External vision
- `4`: Aux global position 0
- `5`: Aux global position 1
- `6`: Aux global position 2
- `7`: Aux global position 3
- `8`: Barometer
- `9`: Range finder
- `10`: Magnetometer
- `11`: Airspeed
- `12`: Ranging beacon
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0 | 8191 | | 8191 | |
### EKF2_SYNT_MAG_Z (`INT32`) {#EKF2_SYNT_MAG_Z}
Enable synthetic magnetometer Z component measurement.