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ekf2-params: delta vel/ang -> accel/gyro

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bresch 2023-11-20 16:52:00 +01:00 committed by Daniel Agar
parent f2482d7157
commit c7672fc68c
1 changed files with 7 additions and 7 deletions
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14
src/modules/ekf2/ekf2_params.c
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@ -1383,7 +1383,7 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_Z, 0.0f);
/**
* Accelerometer bias learning limit.
*
* The ekf delta velocity bias states will be limited to within a range equivalent to +- of this value.
* The ekf accel bias states will be limited to within a range equivalent to +- of this value.
*
* @group EKF2
* @min 0.0
@ -1396,8 +1396,8 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_LIM, 0.4f);
/**
* Maximum IMU accel magnitude that allows IMU bias learning.
*
* If the magnitude of the IMU accelerometer vector exceeds this value, the EKF delta velocity state estimation will be inhibited.
* This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the delta velocity bias estimates.
* If the magnitude of the IMU accelerometer vector exceeds this value, the EKF accel bias state estimation will be inhibited.
* This reduces the adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale factor errors on the accel bias estimates.
*
* @group EKF2
* @min 20.0
@ -1410,8 +1410,8 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_ACCLIM, 25.0f);
/**
* Maximum IMU gyro angular rate magnitude that allows IMU bias learning.
*
* If the magnitude of the IMU angular rate vector exceeds this value, the EKF delta velocity state estimation will be inhibited.
* This reduces the adverse effect of rapid rotation rates and associated errors on the delta velocity bias estimates.
* If the magnitude of the IMU angular rate vector exceeds this value, the EKF accel bias state estimation will be inhibited.
* This reduces the adverse effect of rapid rotation rates and associated errors on the accel bias estimates.
*
* @group EKF2
* @min 2.0
@ -1422,7 +1422,7 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_ACCLIM, 25.0f);
PARAM_DEFINE_FLOAT(EKF2_ABL_GYRLIM, 3.0f);
/**
* Time constant used by acceleration and angular rate magnitude checks used to inhibit delta velocity bias learning.
* Time constant used by acceleration and angular rate magnitude checks used to inhibit accel bias learning.
*
* The vector magnitude of angular rate and acceleration used to check if learning should be inhibited has a peak hold filter applied to it with an exponential decay.
* This parameter controls the time constant of the decay.
@ -1438,7 +1438,7 @@ PARAM_DEFINE_FLOAT(EKF2_ABL_TAU, 0.5f);
/**
* Gyro bias learning limit.
*
* The ekf delta angle bias states will be limited to within a range equivalent to +- of this value.
* The ekf gyro bias states will be limited to within a range equivalent to +- of this value.
*
* @group EKF2
* @min 0.0