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ekf2: Add missing documentation

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Paul Riseborough 2017-10-05 08:05:33 +11:00 committed by ChristophTobler
parent dbc3a13236
commit ed950d70ce
1 changed files with 5 additions and 4 deletions
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9
src/modules/ekf2/ekf2_main.cpp
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@ -298,10 +298,11 @@ private:
BlockParamFloat _mag_bias_alpha; ///< maximum fraction of the learned magnetometer bias that is saved at each disarm
// EKF accel bias learning control
BlockParamExtFloat _acc_bias_lim; ///< TODO
BlockParamExtFloat _acc_bias_learn_acc_lim; ///< TODO
BlockParamExtFloat _acc_bias_learn_gyr_lim; ///< TODO
BlockParamExtFloat _acc_bias_learn_tc; ///< TODO
BlockParamExtFloat _acc_bias_lim; ///< Accelerometer bias learning limit (m/s**2)
BlockParamExtFloat _acc_bias_learn_acc_lim; ///< Maximum IMU accel magnitude that allows IMU bias learning (m/s**2)
BlockParamExtFloat
_acc_bias_learn_gyr_lim; ///< Maximum IMU gyro angular rate magnitude that allows IMU bias learning (m/s**2)
BlockParamExtFloat _acc_bias_learn_tc; ///< Time constant used to inhibit IMU delta velocity bias learning (sec)
// Multi-rotor drag specific force fusion
BlockParamExtFloat _drag_noise; ///< observation noise variance for drag specific force measurements (m/sec**2)**2