From 700402a031bc5c05bae203e03bebccdea80e24ef Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 28 Sep 2023 14:21:57 +0200 Subject: [PATCH] EKF2: improve/shorten param descriptions Signed-off-by: Silvan Fuhrer --- src/modules/ekf2/ekf2_params.c | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 806dd74838..e3d5decc1a 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -1082,11 +1082,10 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f); /** * Airspeed fusion threshold. * -* A value of zero will deactivate airspeed fusion. Any other positive -* value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. -* Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. -* Use EKF2_FUSE_BETA to activate sideslip fusion. -* Note: side slip fusion is currently not supported for tailsitters. +* Airspeed data is fused for wind estimation if above this threshold. +* Set to 0 to disable airspeed fusion. +* For reliable wind estimation both sideslip (see EKF2_FUSE_BETA) and airspeed fusion should be enabled. +* Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode). * * @group EKF2 * @min 0.0 @@ -1096,11 +1095,11 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f); PARAM_DEFINE_FLOAT(EKF2_ARSP_THR, 0.0f); /** -* Boolean determining if synthetic sideslip measurements should fused. +* Enable synthetic sideslip fusion. * -* A value of 1 indicates that fusion is active -* Both sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS. -* Use EKF2_ARSP_THR to activate airspeed fusion. +* For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled. +* Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode). +* Note: side slip fusion is currently not supported for tailsitters. * * @group EKF2 * @boolean