From 2a5f8b6f58f4b1508f0f307c74374aab86f4885d Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Mon, 4 Jul 2022 19:15:20 +1000 Subject: [PATCH] AP_Airspeed: Add tuning advice for ARSP_WIND_GATE --- libraries/AP_Airspeed/AP_Airspeed.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_Airspeed/AP_Airspeed.cpp b/libraries/AP_Airspeed/AP_Airspeed.cpp index 4f48807921..b9529d5b4b 100644 --- a/libraries/AP_Airspeed/AP_Airspeed.cpp +++ b/libraries/AP_Airspeed/AP_Airspeed.cpp @@ -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