fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-21 04:53:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF2: improve/shorten param descriptions

Browse Source 
Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2023-09-29 11:07:46 +02:00
parent f67b3a8a03
commit 700402a031
1 changed files with 8 additions and 9 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/ekf2_params.c
+8 -9
View File
@@ -1082,11 +1082,10 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f);
/** /**
* Airspeed fusion threshold. * Airspeed fusion threshold.
* *
* A value of zero will deactivate airspeed fusion. Any other positive * Airspeed data is fused for wind estimation if above this threshold.
* value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed. * Set to 0 to disable airspeed fusion.
* Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS. * For reliable wind estimation both sideslip (see EKF2_FUSE_BETA) and airspeed fusion should be enabled.
* Use EKF2_FUSE_BETA to activate sideslip fusion. * Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode).
* Note: side slip fusion is currently not supported for tailsitters.
* *
* @group EKF2 * @group EKF2
* @min 0.0 * @min 0.0
@@ -1096,11 +1095,11 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_ARSP_THR, 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 * For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled.
* Both sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS. * Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode).
* Use EKF2_ARSP_THR to activate airspeed fusion. * Note: side slip fusion is currently not supported for tailsitters.
* *
* @group EKF2 * @group EKF2
* @boolean * @boolean