From eec1ead23366fccb3b844757ef5bbbee2dcd168f Mon Sep 17 00:00:00 2001
From: stmoon <munhoney@gmail.com>
Date: Sun, 7 Jan 2018 21:04:56 +0900
Subject: [PATCH] update description of LPE_FUSION

---
 src/modules/local_position_estimator/params.c | 26 ++++++++++++-------
 1 file changed, 17 insertions(+), 9 deletions(-)

diff --git a/src/modules/local_position_estimator/params.c b/src/modules/local_position_estimator/params.c
index eccb95b6d5..38512a4e73 100644
--- a/src/modules/local_position_estimator/params.c
+++ b/src/modules/local_position_estimator/params.c
@@ -436,19 +436,27 @@ PARAM_DEFINE_FLOAT(LPE_LAND_VXY, 0.05f);
  * 5 : Set to true to publish AGL as local position down component
  * 6 : Set to true to enable flow gyro compensation
  * 7 : Set to true to enable baro fusion
+ * 8 : Set to true to enable land target
+ * 9 : Set to true to enable motion capture fusion
+ * 10 : Set to true to enable lidar fusion
+ * 11 : Set to true to enable sonar fusion
  *
  * default (145 - GPS only)
  *
  * @group Local Position Estimator
  * @min 0
- * @max 255
- * @bit 0 fuse GPS, requires GPS for alt. init
- * @bit 1 fuse optical flow
- * @bit 2 fuse vision position
- * @bit 3 fuse vision yaw
- * @bit 4 fuse land detector
- * @bit 5 pub agl as lpos down
- * @bit 6 flow gyro compensation
- * @bit 7 fuse baro
+ * @max 4294967295
+ * @bit 0  fuse GPS, requires GPS for alt. init
+ * @bit 1  fuse optical flow
+ * @bit 2  fuse vision position
+ * @bit 3  fuse vision yaw
+ * @bit 4  fuse land detector
+ * @bit 5  pub agl as lpos down
+ * @bit 6  flow gyro compensation
+ * @bit 7  fuse baro
+ * @bit 8  land_target
+ * @bit 9  motion capture
+ * @bit 10 lidar
+ * @bit 11 sonar
  */
 PARAM_DEFINE_INT32(LPE_FUSION, 145);