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ekf2: Update parameter descriptions for air data fusion

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Paul Riseborough
2018-01-29 22:30:34 +01:00
committed by ChristophTobler
parent f866698fb2
commit fc78de4c26
1 changed files with 5 additions and 1 deletions
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src/modules/ekf2/ekf2_params.c
+5 -1
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@@ -895,7 +895,9 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f);
/** /**
* Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive * Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive
* value will determine the minimum airspeed which will still be fused. * value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed.
* Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS.
* Use EKF2_FUSE_BETA to activate sideslip fusion.
* *
* @group EKF2 * @group EKF2
* @min 0.0 * @min 0.0
@@ -908,6 +910,8 @@ PARAM_DEFINE_FLOAT(EKF2_ARSP_THR, 0.0f);
* Boolean determining if synthetic sideslip measurements should fused. * Boolean determining if synthetic sideslip measurements should fused.
* *
* A value of 1 indicates that fusion is active * A value of 1 indicates that fusion is active
* Both sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS.
* Use EKF2_ARSP_THR to activate airspeed fusion.
* *
* @group EKF2 * @group EKF2
* @boolean * @boolean