module_name: ekf2
parameters:
- group: EKF2
  definitions:
    EKF2_SEL_ERR_RED:
      description:
        short: Selector error reduce threshold
        long: EKF2 instances have to be better than the selected by at least this
          amount before their relative score can be reduced.
      type: float
      default: 0.2
    EKF2_SEL_IMU_RAT:
      description:
        short: Selector angular rate threshold
        long: EKF2 selector angular rate error threshold for comparing gyros. Angular
          rate vector differences larger than this will result in accumulated angular
          error.
      type: float
      default: 7.0
      unit: deg/s
    EKF2_SEL_IMU_ANG:
      description:
        short: Selector angular threshold
        long: EKF2 selector maximum accumulated angular error threshold for comparing
          gyros. Accumulated angular error larger than this will result in the sensor
          being declared faulty.
      type: float
      default: 15.0
      unit: deg
    EKF2_SEL_IMU_ACC:
      description:
        short: Selector acceleration threshold
        long: EKF2 selector acceleration error threshold for comparing accelerometers.
          Acceleration vector differences larger than this will result in accumulated
          velocity error.
      type: float
      default: 1.0
      unit: m/s^2
    EKF2_SEL_IMU_VEL:
      description:
        short: Selector angular threshold
        long: EKF2 selector maximum accumulated velocity threshold for comparing accelerometers.
          Accumulated velocity error larger than this will result in the sensor being
          declared faulty.
      type: float
      default: 2.0
      unit: m/s