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AP_NavEKF2: Minor amendments from review

This commit is contained in:
Paul Riseborough 2019-02-22 14:42:59 +11:00 committed by Andrew Tridgell
parent 9883b8757f
commit 921205f61c
1 changed files with 7 additions and 7 deletions
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14
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -35,7 +35,7 @@
#define FLOW_M_NSE_DEFAULT 0.25f
#define FLOW_I_GATE_DEFAULT 300
#define CHECK_SCALER_DEFAULT 100
#define FLOW_USE_MASK 1
#define FLOW_USE_MASK_DEFAULT 1
#elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
// rover defaults
@ -61,7 +61,7 @@
#define FLOW_M_NSE_DEFAULT 0.25f
#define FLOW_I_GATE_DEFAULT 300
#define CHECK_SCALER_DEFAULT 100
#define FLOW_USE_MASK 1
#define FLOW_USE_MASK_DEFAULT 1
#elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
// plane defaults
@ -87,7 +87,7 @@
#define FLOW_M_NSE_DEFAULT 0.25f
#define FLOW_I_GATE_DEFAULT 300
#define CHECK_SCALER_DEFAULT 150
#define FLOW_USE_MASK 2
#define FLOW_USE_MASK_DEFAULT 2
#else
// build type not specified, use copter defaults
@ -113,7 +113,7 @@
#define FLOW_M_NSE_DEFAULT 0.25f
#define FLOW_I_GATE_DEFAULT 300
#define CHECK_SCALER_DEFAULT 100
#define FLOW_USE_MASK 3
#define FLOW_USE_MASK_DEFAULT 2
#endif // APM_BUILD_DIRECTORY
@ -559,12 +559,12 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Param: FLOW_MASK
// @DisplayName: Optical flow use bitmask
// @Description: Bitmask controlling if the optical flow dara is fused into the main navigation estimator and/or the terrain estimator.
// @Description: Bitmask controlling if the optical flow data is fused into the 24-state navigation estimator and/or the 1-state terrain height estimator.
// @User: Advanced
// @Values: 0:None,1:Navigation,2:Terrain,3:Both
// @Values: 0:None,1:Navgation,2:Terrain,3:Both
// @Bitmask: 0:Navigation,1:Terrain
// @RebootRequired: True
AP_GROUPINFO("FLOW_MASK", 51, NavEKF2, _flowUseMask, FLOW_USE_MASK),
AP_GROUPINFO("FLOW_MASK", 51, NavEKF2, _flowUseMask, FLOW_USE_MASK_DEFAULT),
AP_GROUPEND
};