module_name: ekf2
parameters:
- group: EKF2
  definitions:
    EKF2_OF_CTRL:
      description:
        short: Optical flow aiding
        long: Enable optical flow fusion.
      type: boolean
      default: 1
    EKF2_OF_DELAY:
      description:
        short: Optical flow measurement delay relative to IMU measurements
        long: Assumes measurement is timestamped at trailing edge of integration period
      type: float
      default: 20
      min: 0
      max: 300
      unit: ms
      reboot_required: true
      decimal: 1
    EKF2_OF_GATE:
      description:
        short: Gate size for optical flow 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_OF_N_MIN:
      description:
        short: Optical flow minimum noise
        long: Measurement noise for the optical flow sensor when it's reported quality
          metric is at the maximum
      type: float
      default: 0.15
      min: 0.05
      unit: rad/s
      decimal: 2
    EKF2_OF_N_MAX:
      description:
        short: Optical flow maximum noise
        long: Measurement noise for the optical flow sensor when it's reported quality
          metric is at the minimum
      type: float
      default: 0.5
      min: 0.05
      unit: rad/s
      decimal: 2
    EKF2_OF_QMIN:
      description:
        short: In air optical flow minimum quality
        long: Optical Flow data will only be used in air if the sensor reports a
          quality metric >= EKF2_OF_QMIN
      type: int32
      default: 1
      min: 0
      max: 255
    EKF2_OF_QMIN_GND:
      description:
        short: On ground optical flow minimum quality
        long: Optical Flow data will only be used on the ground if the sensor reports
          a quality metric >= EKF2_OF_QMIN_GND
      type: int32
      default: 0
      min: 0
      max: 255
    EKF2_OF_GYR_SRC:
      description:
        short: Optical flow angular rate compensation source
        long: 'Auto: use gyro from optical flow message if available, internal gyro otherwise.
               Internal: always use internal gyro'
      type: enum
      values:
        0: Auto
        1: Internal
      default: 0
    EKF2_OF_POS_X:
      description:
        short: X position of optical flow 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_OF_POS_Y:
      description:
        short: Y position of optical flow 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_OF_POS_Z:
      description:
        short: Z position of optical flow 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