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docs/en/advanced_config/parameter_reference.md
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@@ -21557,6 +21557,49 @@ Maximum vertical drift speed to use GPS.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.1 | 1.5 | | 0.2 | m/s |
### EKF2_RNGBC_CTRL (`INT32`) {#EKF2_RNGBC_CTRL}
Ranging beacon fusion control.
Enable/disable ranging beacon fusion.
**Values:**
- `0`: Disable ranging beacon fusion
- `1`: Enable ranging beacon fusion
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | | | | 0 | |
### EKF2_RNGBC_DELAY (`FLOAT`) {#EKF2_RNGBC_DELAY}
Ranging beacon measurement delay relative to IMU measurements.
| Reboot | minValue | maxValue | increment | default | unit |
| ------- | -------- | -------- | --------- | ------- | ---- |
| &check; | 0 | 1000 | | 0 | ms |
### EKF2_RNGBC_GATE (`FLOAT`) {#EKF2_RNGBC_GATE}
Gate size for ranging beacon fusion.
Sets the number of standard deviations used by the innovation consistency test.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 1.0 | | | 5.0 | SD |
### EKF2_RNGBC_NOISE (`FLOAT`) {#EKF2_RNGBC_NOISE}
Measurement noise for ranging beacon fusion.
Used to lower bound or replace the uncertainty included in the message
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.1 | 500.0 | | 30.0 | m |
### EKF2_RNG_A_HMAX (`FLOAT`) {#EKF2_RNG_A_HMAX}
Maximum height above ground allowed for conditional range aid mode.
@@ -40080,6 +40123,16 @@ This value is usually about few percent of the maximum thrust force.
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.0 | | 0.05 | 0.1 | Nm |
### SIH_RNGBC_NOISE (`FLOAT`) {#SIH_RNGBC_NOISE}
Ranging beacon measurement noise standard deviation.
Gaussian noise added to simulated ranging beacon measurements. Set to 0 to disable noise.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | 0.0 | 100.0 | | 30.0 | m |
### SIH_T_MAX (`FLOAT`) {#SIH_T_MAX}
Max propeller thrust force.