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ekf2: Update parameter descriptions (#8292) 

Make it clearer that the gate parameters control innovation consistency checks and that the gate size is specified in standard deviations.
Also make it clear that the EKF2_BARO_GATE also controls the GPS height fusion.
This commit is contained in:
Paul Riseborough 2017-11-16 01:19:08 +11:00 committed by Daniel Agar
parent 26171df9fc
commit 44a71ad6c9
1 changed files with 19 additions and 1 deletions
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20
src/modules/ekf2/ekf2_params.c
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@ -416,6 +416,8 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_DECL, 0);
/**
* Gate size for magnetic heading fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD
@ -426,6 +428,8 @@ PARAM_DEFINE_FLOAT(EKF2_HDG_GATE, 2.6f);
/**
* Gate size for magnetometer XYZ component fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD
@ -491,7 +495,9 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_ACCLIM, 0.5f);
PARAM_DEFINE_FLOAT(EKF2_MAG_YAWLIM, 0.25f);
/**
* Gate size for barometric height fusion
* Gate size for barometric and GPS height fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
@ -503,6 +509,8 @@ PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 5.0f);
/**
* Gate size for GPS horizontal position fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD
@ -513,6 +521,8 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_P_GATE, 5.0f);
/**
* Gate size for GPS velocity fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD
@ -523,6 +533,8 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 5.0f);
/**
* Gate size for TAS fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD
@ -593,6 +605,8 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_SFE, 0.05f);
/**
* Gate size for range finder fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD
@ -634,6 +648,8 @@ PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.05f);
/**
* Gate size for vision estimate fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD
@ -676,6 +692,8 @@ PARAM_DEFINE_INT32(EKF2_OF_QMIN, 1);
/**
* Gate size for optical flow fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD