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docs/en/advanced_config/parameter_reference.md
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@@ -20249,16 +20249,6 @@ EKF2 enable.
| ------ | -------- | -------- | --------- | ----------- | ---- |
| &nbsp; | | | | Enabled (1) | |
### EKF2_ENGINE_WRM (`INT32`) {#EKF2_ENGINE_WRM}
Enable constant position fusion during engine warmup.
When enabled, constant position fusion is enabled when the vehicle is landed and armed. This is intended for IC engine warmup (e.g., fuel engines on catapult) to allow mode transitions to auto/takeoff despite vibrations from running engines.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------------ | ---- |
| &nbsp; | | | | Disabled (0) | |
### EKF2_EVA_NOISE (`FLOAT`) {#EKF2_EVA_NOISE}
Measurement noise for vision angle measurements.
@@ -20996,6 +20986,16 @@ This is the ratio of static pressure error to dynamic pressure generated by a wi
| ------ | -------- | -------- | --------- | ------- | ---- |
| &nbsp; | -0.5 | 0.5 | | 0.0 | |
### EKF2_POS_LOCK (`INT32`) {#EKF2_POS_LOCK}
Enable constant position fusion while on ground.
When enabled, constant position fusion is enabled when the vehicle is landeded if position has been initialized but has currently no vel/pos aiding.
| Reboot | minValue | maxValue | increment | default | unit |
| ------ | -------- | -------- | --------- | ------------ | ---- |
| &nbsp; | | | | Disabled (0) | |
### EKF2_PREDICT_US (`INT32`) {#EKF2_PREDICT_US}
EKF prediction period.