module_name: ekf2
parameters:
- group: EKF2
  definitions:
    EKF2_EV_CTRL:
      description:
        short: External vision (EV) sensor aiding
        long: 'Set bits in the following positions to enable: 0 : Horizontal position
          fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw'
      type: bitmask
      bit:
        0: Horizontal position
        1: Vertical position
        2: 3D velocity
        3: Yaw
      default: 0
      min: 0
      max: 15
    EKF2_EV_DELAY:
      description:
        short: Vision Position Estimator delay relative to IMU measurements
      type: float
      default: 0
      min: 0
      max: 300
      unit: ms
      reboot_required: true
      decimal: 1
    EKF2_EV_NOISE_MD:
      description:
        short: External vision (EV) noise mode
        long: If set to 0 (default) the measurement noise is taken from the vision
          message and the EV noise parameters are used as a lower bound. If set to
          1 the observation noise is set from the parameters directly,
      type: enum
      values:
        0: EV reported variance (parameter lower bound)
        1: EV noise parameters
      default: 0
    EKF2_EV_QMIN:
      description:
        short: External vision (EV) minimum quality (optional)
        long: External vision will only be started and fused if the quality metric
          is above this threshold. The quality metric is a completely optional field
          provided by some VIO systems.
      type: int32
      default: 0
      min: 0
      max: 100
      decimal: 1
    EKF2_EVA_NOISE:
      description:
        short: Measurement noise for vision angle measurements
        long:  Used to lower bound or replace the uncertainty included in the message
      type: float
      default: 0.1
      min: 0.05
      unit: rad
      decimal: 2
    EKF2_EVP_GATE:
      description:
        short: Gate size for vision position fusion
        long: Sets the number of standard deviations used by the innovation consistency
          test.
      type: float
      default: 5.0
      min: 1.0
      unit: SD
      decimal: 1
    EKF2_EVP_NOISE:
      description:
        short: Measurement noise for vision position measurements
        long:  Used to lower bound or replace the uncertainty included in the message
      type: float
      default: 0.1
      min: 0.01
      unit: m
      decimal: 2
    EKF2_EVV_GATE:
      description:
        short: Gate size for vision velocity estimate fusion
        long: Sets the number of standard deviations used by the innovation consistency
          test.
      type: float
      default: 3.0
      min: 1.0
      unit: SD
      decimal: 1
    EKF2_EVV_NOISE:
      description:
        short: Measurement noise for vision velocity measurements
        long:  Used to lower bound or replace the uncertainty included in the message
      type: float
      default: 0.1
      min: 0.01
      unit: m/s
      decimal: 2
    EKF2_EV_POS_X:
      description:
        short: X position of VI sensor focal point in body frame
        long: Forward axis with origin relative to vehicle centre of gravity
      type: float
      default: 0.0
      unit: m
      decimal: 3
    EKF2_EV_POS_Y:
      description:
        short: Y position of VI sensor focal point in body frame
        long: Forward axis with origin relative to vehicle centre of gravity
      type: float
      default: 0.0
      unit: m
      decimal: 3
    EKF2_EV_POS_Z:
      description:
        short: Z position of VI sensor focal point in body frame
        long: Forward axis with origin relative to vehicle centre of gravity
      type: float
      default: 0.0
      unit: m
      decimal: 3