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AP_NavEKF2: Fix long description of EK2_OGN_HGT_MASK parameter

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Dr.-Ing. Amilcar Do Carmo Lucas 2017-06-15 17:39:56 +02:00 committed by Francisco Ferreira
parent 1d03732ac5
commit 7426bdb9b7
1 changed files with 1 additions and 4 deletions
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libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -544,10 +544,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Param: OGN_HGT_MASK
// @DisplayName: Bitmask control of EKF reference height correction
// @Description: When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference.
// If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time.
// The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits.
// The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position (default) or to the reported EKF origin height.
// @Description: When a height sensor other than GPS is used as the primary height source by the EKF, the position of the zero height datum is defined by that sensor and its frame of reference. If a GPS height measurement is also available, then the height of the WGS-84 height datum used by the EKF can be corrected so that the height returned by the getLLH() function is compensated for primary height sensor drift and change in datum over time. The first two bit positions control when the height datum will be corrected. Correction is performed using a Bayes filter and only operates when GPS quality permits. The third bit position controls where the corrections to the GPS reference datum are applied. Corrections can be applied to the local vertical position (default) or to the reported EKF origin height.
// @Bitmask: 0:Correct when using Baro height,1:Correct when using range finder height,2:Apply corrections to origin height
// @User: Advanced
// @RebootRequired: True