fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-22 03:27:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: Update parameter description

Browse Source
This commit is contained in:
Paul Riseborough
2018-05-11 15:52:17 +10:00
committed by Lorenz Meier
parent 0dc2377c2f
commit 9e567cadd6
1 changed files with 6 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/ekf2_params.c
+6 -1
View File
@@ -1079,7 +1079,12 @@ PARAM_DEFINE_FLOAT(EKF2_MAGB_K, 0.2f);
*
* If this parameter is enabled then the estimator will make use of the range finder measurements
* to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions
* for range measurement fusion are met.
* for range measurement fusion are met. This enables the range finder to be used during low speed and low altitude
* operation. Speed and height criteria are controlled by EKF2_RNG_A_VMAX and EKF2_RNG_A_HMAX.
* It should not be used for terrain following. It is intended to be used where a vertical takeoff and landing
* is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX. If vehicle motion causes
* repeated switvhing between the rimary height sensor and range finder, an offset in the local position origin
* can accumulate. For terrain following, it is recommended to use the MPC_ALT_MODE parameter instead.
*
* @group EKF2
* @value 0 Range aid disabled