From 58e08339e83da79d6edeaaedbea3b1bef452a79f Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 14 Mar 2016 11:10:24 +1100
Subject: [PATCH] ekf2: Update parameter documentation

Updates parameter documentation to take advantage of the range finder height option.
---
 src/modules/ekf2/ekf2_params.c | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index dfa04d14ab..ff0ae715d1 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -395,13 +395,14 @@ PARAM_DEFINE_INT32(EKF2_AID_MASK, 1);
 
 /**
  * Determines the primary source of height data used by the EKF.
+ * The range sensor option should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
  * 0 : Barometric pressure
  * 1 : Reserved (placeholder for GPS)
- * 2 : Reserved (placeholder for range finder)
+ * 2 : Range sensor
  *
  * @group EKF2
  * @min 0
- * @max 0
+ * @max 2
  */
 PARAM_DEFINE_INT32(EKF2_HGT_MODE, 0);