From 3d72022f6e4d201e5ffdcdc625cf2aa2eae5df20 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 16 Jul 2018 09:05:16 +0900 Subject: [PATCH] EKF: modify ALT_SOURCE param description We regularly find users changing the ALT_SOURCE to 1 (range finder) when trying to implement terrain following which is not the correct way to do it --- libraries/AP_NavEKF2/AP_NavEKF2.cpp | 4 ++-- libraries/AP_NavEKF3/AP_NavEKF3.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp index e47fa54d4e2..138998d0c85 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp @@ -202,7 +202,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = { // @Param: ALT_SOURCE // @DisplayName: Primary altitude sensor source - // @Description: This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK2_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground. + // @Description: Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK2_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground. // @Values: 0:Use Baro, 1:Use Range Finder, 2:Use GPS, 3:Use Range Beacon // @User: Advanced // @RebootRequired: True @@ -485,7 +485,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = { // @Param: RNG_USE_HGT // @DisplayName: Range finder switch height percentage - // @Description: The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use. + // @Description: Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK2_ALT_SOURCE is not set to range finder. This is not for terrain following. // @Range: -1 70 // @Increment: 1 // @User: Advanced diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp index 71d9f97b8d7..62dd58d847f 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp @@ -192,7 +192,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = { // @Param: ALT_SOURCE // @DisplayName: Primary altitude sensor source - // @Description: This parameter controls the primary height sensor used by the EKF. If the selected option cannot be used, it will default to Baro as the primary height source. Setting 0 will use the baro altitude at all times. Setting 1 uses the range finder and is only available in combination with optical flow navigation (EK3_GPS_TYPE = 3). Setting 2 uses GPS. Setting 3 uses the range beacon data. NOTE - the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground. + // @Description: Primary height sensor used by the EKF. If the selected option cannot be used, baro is used. 1 uses the range finder and only with optical flow navigation (EK2_GPS_TYPE = 3), Do not use "1" for terrain following. NOTE: the EK3_RNG_USE_HGT parameter can be used to switch to range-finder when close to the ground. // @Values: 0:Use Baro, 1:Use Range Finder, 2:Use GPS, 3:Use Range Beacon // @User: Advanced // @RebootRequired: True @@ -472,7 +472,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = { // @Param: RNG_USE_HGT // @DisplayName: Range finder switch height percentage - // @Description: The range finder will be used as the primary height source when below a specified percentage of the sensor maximum as set by the RNGFND_MAX_CM parameter. Set to -1 to prevent range finder use. + // @Description: Range finder can be used as the primary height source when below this percentage of its maximum range (see RNGFND_MAX_CM). Set to -1 when EK3_ALT_SOURCE is not set to range finder. This is not for terrain following. // @Range: -1 70 // @Increment: 1 // @User: Advanced