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docs/en/advanced_config/parameter_reference.md
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@@ -20502,7 +20502,8 @@ Measurement noise for magnetic heading fusion.
Determines the reference source of height data used by the EKF.
When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level. If GPS is set as reference but altitude fusion is disabled in EKF2_GPS_CTRL, the GPS altitude is still used to initiaize the bias of the other height sensors.
When multiple height sources are enabled at the same time, the height estimate will always converge towards the reference height source selected by this parameter. The range sensor and vision options should only be used when for operation over a flat surface as the local NED origin will move up and down with ground level.
If GPS is set as reference and EKF2_GPS_CTRL is not 0, the GPS altitude is still used to initiaize the bias of the other height sensors, regardless of the altitude fusion bit in EKF2_GPS_CTRL.
**Values:**