From 0f346af226c8aa4823c08a24e522e7b218898a18 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 24 Apr 2019 08:42:24 +1000 Subject: [PATCH] ekf2: Improve parameter description Inhibiting bias estimation using the EKF2_AID_MASK parameter only applies to the delta velocity bias states. --- src/modules/ekf2/ekf2_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index cd6bdaa5d2..eab72a0ed5 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -607,7 +607,7 @@ PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f); * Set bits in the following positions to enable: * 0 : Set to true to use GPS data if available * 1 : Set to true to use optical flow data if available - * 2 : Set to true to inhibit IMU bias estimation + * 2 : Set to true to inhibit IMU delta velocity bias estimation * 3 : Set to true to enable vision position fusion * 4 : Set to true to enable vision yaw fusion. Cannot be used if bit position 7 is true. * 5 : Set to true to enable multi-rotor drag specific force fusion