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ekf2: Update parameter description

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Paul Riseborough
2018-05-29 07:10:12 +10:00
committed by Lorenz Meier
parent d46ee571ce
commit 366e36a07b
1 changed files with 9 additions and 4 deletions
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13
src/modules/ekf2/ekf2_params.c
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@@ -482,14 +482,19 @@ PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
/**
* Type of magnetometer fusion
*
* Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer.
* If set to automatic: heading fusion on-ground and 3-axis fusion in-flight with fallback to heading fusion if there is insufficient motion to make yaw or mag biases observable.
* Integer controlling the type of magnetometer fusion used - magnetic heading or 3-component vector. The fuson of magnetomer data as a three component vector enables vehicle body fixed hard iron errors to be learned, but requires a stable earth field.
* If set to 'Automatic' magnetic heading fusion is used when on-ground and 3-axis magnetic field fusion in-flight with fallback to magnetic heading fusion if there is insufficient motion to make yaw or magnetic field states observable.
* If set to 'Magnetic heading' magnetic heading fusion is used at all times
* If set to '3-axis' 3-axis field fusion is used at all times.
* If set to 'VTOL custom' the behaviour is the same as 'Automatic', but if fusing airspeed, magnetometer fusion is only allowed to modify the magnetic field states. This can be used by VTOL platforms with large magnetic field disturbances to prevent incorrect bias states being learned during forward flight operation which can adversely affect estimation accuracy after transition to hovering flight.
* If set to 'MC custom' the behaviour is the same as 'Automatic, but if there are no earth frame position or velocity observations being used, the magnetometer will not be used. This enables vehicles to operate with no GPS in environments where the magnetic field cannot be used to provide a heading reference.
*
* @group EKF2
* @value 0 Automatic
* @value 1 Magnetic heading
* @value 2 3-axis fusion
* @value 3 None
* @value 2 3-axis
* @value 3 VTOL customn
* @value 4 MC custom
* @reboot_required true
*/
PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0);