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AP_NavEKF3: Update parameter description

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Paul Riseborough 2021-02-28 14:23:47 +11:00 committed by Andrew Tridgell
parent baea2c33bd
commit 4675aea0bf
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -418,7 +418,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = {
// @Param: BETA_MASK
// @DisplayName: Bitmask controlling sidelip angle fusion
// @Description: 1 byte bitmap controlling use of sideslip angle fuson for estimation of non wind states during operation of 'fly forward' vehicle types. Use of sideslip fusion to update non wind states is performed by default when dead reckoning and cannot be didsabled.
// @Description: 1 byte bitmap controlling use of sideslip angle fusion for estimation of non wind states during operation of 'fly forward' vehicle types such as fixed wing planes. By assuming that the angle of sideslip is small, the wind velocity state estimates are corrected whenever the EKF is not dead reckoning (e.g. has an independent velocity or position sensor such as GPS). This behaviour is on by default and cannot be disabled. When the EKF is dead reckoning, the wind states are used as a reference, enabling use of the small angle of sideslip assumption to correct non wind velocity states (eg attitude, velocity, position, etc) and improve navigation accuracy. This behaviour is on by default and cannot be disabled. The behaviour controlled by this parameter is the use of the small angle of sideslip assumption to correct non wind velocity states when the EKF is NOT dead reckoning. This is primarily of benefit to reduce the buildup of yaw angle errors during straight and level flight without a yaw sensor (e.g. magnetometer or dual antenna GPS yaw) provided aerobatic flight maneuvers with large sideslip angles are not performed. The 'always' option might be used where the yaw sensor is intentionally not fitted or disabled. The 'WhenNoYawSensor' option might be used if a yaw sensor is fitted, but protection against in-flight failure and continual rejection by the EKF is desired. For vehicles operated within visual range of the operator performing frequent turning maneuvers, setting this parameter is unnecessary.
// @Bitmask: 0:Always,1:WhenNoYawSensor
// @User: Advanced
// @RebootRequired: True