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AP_NavEKF3: Fix typo and update parameter description

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Paul Riseborough 2021-02-17 15:10:38 +11:00 committed by Randy Mackay
parent 4d9cfdaaa8
commit 7370cd9f00
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -683,7 +683,7 @@ const AP_Param::GroupInfo NavEKF3::var_info2[] = {
// @Param: DRAG_MCOEF
// @DisplayName: Momentum coefficient for propeller drag
// @Description: This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. It represents the ratio of rotor drag induced acceleration to airspeed. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on an will change with different propellers. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEFto a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters.
// @Description: This parameter is used to predict the drag produced by the rotors when flying a multi-copter, enabling estimation of wind drift. The drag produced by this effect scales with speed not speed squared and is produced because some of the air velocity normal to the rotors axis of rotation is lost when passing through the rotor disc which changes the momentum of the airflow causing drag. For unducted rotors the effect is roughly proportional to the area of the propeller blades when viewed side on and changes with different propellers. It is higher for ducted rotors. For example if flying at 15 m/s at sea level conditions produces a rotor induced drag acceleration of 1.5 m/s/s, then EK3_MCOEF would be set to 0.1 = (1.5/15.0). Set EK3_MCOEF to a postive value to enable wind estimation using this drag effect. To account for the drag produced by the body which scales with speed squared, see documentation for the EK3_BCOEF_X and EK3_BCOEF_Y parameters.
// @Range: 0.0 1.0
// @Increment: 0.01
// @Units: 1/s