From 715d0946787e40196b70db52b19a189e1726e6ea Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar Do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Tue, 10 Jan 2017 16:33:29 +0100
Subject: [PATCH] AP_NavEKF2: Correct display names, bitmask and units

---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 47c4f5e7b0..e40abb2908 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -198,7 +198,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
     // Height measurement parameters
 
     // @Param: ALT_SOURCE
-    // @DisplayName: Primary height source
+    // @DisplayName: Primary altitude sensor source
     // @Description: This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground.
     // @Values: 0:Use Baro, 1:Use Range Finder, 2:Use GPS, 3:Use Range Beacon
     // @User: Advanced
@@ -387,7 +387,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
     AP_GROUPINFO("WIND_P_NSE", 30, NavEKF2, _windVelProcessNoise, 0.1f),
 
     // @Param: WIND_PSCALE
-    // @DisplayName: Height rate to wind procss noise scaler
+    // @DisplayName: Height rate to wind process noise scaler
     // @Description: This controls how much the process noise on the wind states is increased when gaining or losing altitude to take into account changes in wind speed and direction with altitude. Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind velocity estimation noiser.
     // @Range: 0.0 1.0
     // @Increment: 0.1
@@ -404,7 +404,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
     // @Param: IMU_MASK
     // @DisplayName: Bitmask of active IMUs
     // @Description: 1 byte bitmap of IMUs to use in EKF2. A separate instance of EKF2 will be started for each IMU selected. Set to 1 to use the first IMU only (default), set to 2 to use the second IMU only, set to 3 to use the first and second IMU. Additional IMU's can be used up to a maximum of 6 if memory and processing resources permit. There may be insufficient memory and processing resources to run multiple instances. If this occurs EKF2 will fail to start.
-    // @Range: 1 127
+    // @Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU
     // @User: Advanced
     AP_GROUPINFO("IMU_MASK",     33, NavEKF2, _imuMask, 3),
     
@@ -421,13 +421,13 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
     // @Description: This sets the amount of position variation that the EKF allows for when operating without external measurements (eg GPS or optical flow). Increasing this parameter makes the EKF attitude estimate less sensitive to vehicle manoeuvres but more sensitive to IMU errors.
     // @Range: 0.5 50.0
     // @User: Advanced
-    // @Units: m/s
+    // @Units: m
     AP_GROUPINFO("NOAID_M_NSE", 35, NavEKF2, _noaidHorizNoise, 10.0f),
 
     // @Param: LOG_MASK
     // @DisplayName: EKF sensor logging IMU mask
     // @Description: This sets the IMU mask of sensors to do full logging for
-    // @Values: 0:Disabled,1:FirstIMU,3:FirstAndSecondIMU,7:AllIMUs
+    // @Bitmask: 0:FirstIMU,1:SecondIMU,2:ThirdIMU,3:FourthIMU,4:FifthIMU,5:SixthIMU
     // @User: Advanced
     AP_GROUPINFO("LOG_MASK", 36, NavEKF2, _logging_mask, 1),
 
@@ -524,7 +524,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
     // @Range: 2.0 6.0
     // @Increment: 0.5
     // @User: Advanced
-    // @Units: m
+    // @Units: m/s
     AP_GROUPINFO("RNG_USE_SPD", 47, NavEKF2, _useRngSwSpd, 2.0f),
 
     AP_GROUPEND