Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Airspeed: Add tuning advice for ARSP_WIND_GATE

This commit is contained in:
Paul Riseborough 2022-07-04 19:15:20 +10:00 committed by Andrew Tridgell
parent 9439777ef7
commit 2a5f8b6f58
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_Airspeed/AP_Airspeed.cpp
View File

@ -212,7 +212,7 @@ const AP_Param::GroupInfo AP_Airspeed::var_info[] = {
// @Param: _WIND_GATE
// @DisplayName: Re-enable Consistency Check Gate Size
// @Description: Number of standard deviations applied to the re-enable EKF consistency check that is used when ARSPD_OPTIONS bit position 3 is set. Larger values will make the re-enabling of the airspeed sensor faster, but increase the likelihood of re-enabling a degraded sensor.
// @Description: Number of standard deviations applied to the re-enable EKF consistency check that is used when ARSPD_OPTIONS bit position 3 is set. Larger values will make the re-enabling of the airspeed sensor faster, but increase the likelihood of re-enabling a degraded sensor. The value can be tuned by using the ARSP.TR log message by setting ARSP_WIND_GATE to a value that is higher than the value for ARSP.TR observed with a healthy airspeed sensor. Occasional transients in ARSP.TR above the value set by ARSP_WIND_GATE can be tolerated provided they are less than 5 seconds in duration and less than 10% duty cycle.
// @Description{Copter, Blimp, Rover, Sub}: This parameter and function is not used by this vehicle.
// @Units: StdDev
// @Range: 0.0 10.0