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EKF2: improve/shorten param descriptions 

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-09-28 14:21:57 +02:00
parent f67b3a8a03
commit 700402a031
1 changed files with 8 additions and 9 deletions
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17
src/modules/ekf2/ekf2_params.c
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@ -1082,11 +1082,10 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f);
/**
* Airspeed fusion threshold.
*
* A value of zero will deactivate airspeed fusion. Any other positive
* value will determine the minimum airspeed which will still be fused. Set to about 90% of the vehicles stall speed.
* Both airspeed fusion and sideslip fusion must be active for the EKF to continue navigating after loss of GPS.
* Use EKF2_FUSE_BETA to activate sideslip fusion.
* Note: side slip fusion is currently not supported for tailsitters.
* Airspeed data is fused for wind estimation if above this threshold.
* Set to 0 to disable airspeed fusion.
* For reliable wind estimation both sideslip (see EKF2_FUSE_BETA) and airspeed fusion should be enabled.
* Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode).
*
* @group EKF2
* @min 0.0
@ -1096,11 +1095,11 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_ARSP_THR, 0.0f);
/**
* Boolean determining if synthetic sideslip measurements should fused.
* Enable synthetic sideslip fusion.
*
* A value of 1 indicates that fusion is active
* Both sideslip fusion and airspeed fusion must be active for the EKF to continue navigating after loss of GPS.
* Use EKF2_ARSP_THR to activate airspeed fusion.
* For reliable wind estimation both sideslip and airspeed fusion (see EKF2_ARSP_THR) should be enabled.
* Only applies to fixed-wing vehicles (or VTOLs in fixed-wing mode).
* Note: side slip fusion is currently not supported for tailsitters.
*
* @group EKF2
* @boolean