From fc78de4c263eba929fc7a4b960a58d523f8d60b5 Mon Sep 17 00:00:00 2001 From: Paul Riseborough <p_riseborough@live.com.au> Date: Fri, 20 Oct 2017 11:49:33 +1100 Subject: [PATCH] ekf2: Update parameter descriptions for air data fusion --- src/modules/ekf2/ekf2_params.c | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index c083c6c2b5..6d79045d08 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -895,7 +895,9 @@ 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. +* 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. * * @group EKF2 * @min 0.0 @@ -908,6 +910,8 @@ PARAM_DEFINE_FLOAT(EKF2_ARSP_THR, 0.0f); * Boolean determining if synthetic sideslip measurements should fused. * * 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. * * @group EKF2 * @boolean -- GitLab