Skip to content

Commit

Permalink
ekf2_params: reduce "short" description
Browse files Browse the repository at this point in the history
  • Loading branch information
@bresch @dagar
bresch authored and dagar committed Apr 24, 2024
1 parent 97191bd commit 8bf1cf0
Show file tree
Hide file tree
Showing 2 changed files with 64 additions and 64 deletions.
124 changes: 62 additions & 62 deletions src/modules/ekf2/module.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -114,8 +114,7 @@ parameters:
decimal: 1
EKF2_AVEL_DELAY:
description:
short: Auxiliary Velocity Estimate (e.g from a landing target) delay relative
to IMU measurements
short: Auxiliary Velocity Estimate delay relative to IMU measurements
type: float
default: 5
min: 0
Expand Down Expand Up @@ -582,7 +581,8 @@ parameters:
max: 3
EKF2_NOAID_TOUT:
description:
short: Maximum lapsed time from last fusion of measurements that constrain
short: Maximum inertial dead-reckoning time
long: Maximum lapsed time from last fusion of measurements that constrain
velocity drift before the EKF will report the horizontal nav solution as
invalid
type: int32
Expand Down Expand Up @@ -655,26 +655,26 @@ parameters:
decimal: 1
EKF2_EVP_NOISE:
description:
short: Measurement noise for vision position observations used to lower bound
or replace the uncertainty included in the message
short: Measurement noise for vision position measurements
long: Used to lower bound or replace the uncertainty included in the message
type: float
default: 0.1
min: 0.01
unit: m
decimal: 2
EKF2_EVV_NOISE:
description:
short: Measurement noise for vision velocity observations used to lower bound
or replace the uncertainty included in the message
short: Measurement noise for vision velocity measurements
long: Used to lower bound or replace the uncertainty included in the message
type: float
default: 0.1
min: 0.01
unit: m/s
decimal: 2
EKF2_EVA_NOISE:
description:
short: Measurement noise for vision angle observations used to lower bound
or replace the uncertainty included in the message
short: Measurement noise for vision angle measurements
long: Used to lower bound or replace the uncertainty included in the message
type: float
default: 0.1
min: 0.05
Expand All @@ -697,7 +697,8 @@ parameters:
default: 0
EKF2_OF_N_MIN:
description:
short: Measurement noise for the optical flow sensor when it's reported quality
short: Optical flow minimum noise
long: Measurement noise for the optical flow sensor when it's reported quality
metric is at the maximum
type: float
default: 0.15
Expand All @@ -706,25 +707,27 @@ parameters:
decimal: 2
EKF2_OF_N_MAX:
description:
short: Measurement noise for the optical flow sensor
long: '(when it''s reported quality metric is at the minimum set by EKF2_OF_QMIN).
The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN'
short: Optical flow maximum noise
long: Measurement noise for the optical flow sensor when it's reported quality
metric is at the minimum
type: float
default: 0.5
min: 0.05
unit: rad/s
decimal: 2
EKF2_OF_QMIN:
description:
short: Optical Flow data will only be used in air if the sensor reports a
short: In air optical flow minimum quality
long: Optical Flow data will only be used in air if the sensor reports a
quality metric >= EKF2_OF_QMIN
type: int32
default: 1
min: 0
max: 255
EKF2_OF_QMIN_GND:
description:
short: Optical Flow data will only be used on the ground if the sensor reports
short: On ground optical flow minimum quality
long: Optical Flow data will only be used on the ground if the sensor reports
a quality metric >= EKF2_OF_QMIN_GND
type: int32
default: 0
Expand All @@ -742,8 +745,7 @@ parameters:
decimal: 1
EKF2_TERR_NOISE:
description:
short: Terrain altitude process noise - accounts for instability in vehicle
height estimate
short: Terrain altitude process noise
type: float
default: 5.0
min: 0.5
Expand All @@ -759,120 +761,120 @@ parameters:
decimal: 2
EKF2_IMU_POS_X:
description:
short: X position of IMU in body frame (forward axis with origin relative
to vehicle centre of gravity)
short: X position of IMU in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_IMU_POS_Y:
description:
short: Y position of IMU in body frame (right axis with origin relative to
vehicle centre of gravity)
short: Y position of IMU in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_IMU_POS_Z:
description:
short: Z position of IMU in body frame (down axis with origin relative to
vehicle centre of gravity)
short: Z position of IMU in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_GPS_POS_X:
description:
short: X position of GPS antenna in body frame (forward axis with origin relative
to vehicle centre of gravity)
short: X position of GPS antenna in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_GPS_POS_Y:
description:
short: Y position of GPS antenna in body frame (right axis with origin relative
to vehicle centre of gravity)
short: Y position of GPS antenna in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_GPS_POS_Z:
description:
short: Z position of GPS antenna in body frame (down axis with origin relative
to vehicle centre of gravity)
short: Z position of GPS antenna in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_RNG_POS_X:
description:
short: X position of range finder origin in body frame (forward axis with
origin relative to vehicle centre of gravity)
short: X position of range finder origin in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_RNG_POS_Y:
description:
short: Y position of range finder origin in body frame (right axis with origin
relative to vehicle centre of gravity)
short: Y position of range finder origin in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_RNG_POS_Z:
description:
short: Z position of range finder origin in body frame (down axis with origin
relative to vehicle centre of gravity)
short: Z position of range finder origin in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_OF_POS_X:
description:
short: X position of optical flow focal point in body frame (forward axis
with origin relative to vehicle centre of gravity)
short: X position of optical flow focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_OF_POS_Y:
description:
short: Y position of optical flow focal point in body frame (right axis with
origin relative to vehicle centre of gravity)
short: Y position of optical flow focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_OF_POS_Z:
description:
short: Z position of optical flow focal point in body frame (down axis with
origin relative to vehicle centre of gravity)
short: Z position of optical flow focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_EV_POS_X:
description:
short: X position of VI sensor focal point in body frame (forward axis with
origin relative to vehicle centre of gravity)
short: X position of VI sensor focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_EV_POS_Y:
description:
short: Y position of VI sensor focal point in body frame (right axis with
origin relative to vehicle centre of gravity)
short: Y position of VI sensor focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_EV_POS_Z:
description:
short: Z position of VI sensor focal point in body frame (down axis with origin
relative to vehicle centre of gravity)
short: Z position of VI sensor focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
Expand Down Expand Up @@ -908,8 +910,8 @@ parameters:
decimal: 2
EKF2_TAU_POS:
description:
short: Time constant of the position output prediction and smoothing filter.
Controls how tightly the output track the EKF states
short: Output predictor position time constant
long: Controls how tightly the output track the EKF states
type: float
default: 0.25
min: 0.1
Expand Down Expand Up @@ -968,8 +970,7 @@ parameters:
unit: m/s
EKF2_RNG_A_HMAX:
description:
short: Maximum absolute altitude (height above ground level) allowed for conditional
range aid mode
short: Maximum height above ground allowed for conditional range aid mode
long: If the vehicle absolute altitude exceeds this value then the estimator
will not fuse range measurements to estimate its height. This only applies
when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).
Expand All @@ -990,7 +991,8 @@ parameters:
max: 5.0
EKF2_RNG_QLTY_T:
description:
short: Minimum duration during which the reported range finder signal quality
short: Minumum range validity period
long: Minimum duration during which the reported range finder signal quality
needs to be non-zero in order to be declared valid (s)
type: float
default: 1.0
Expand Down Expand Up @@ -1041,9 +1043,9 @@ parameters:
default: 0
EKF2_DRAG_NOISE:
description:
short: Specific drag force observation noise variance used by the multi-rotor
specific drag force model
long: Increasing this makes the multi-rotor wind estimates adjust more slowly.
short: Specific drag force observation noise variance
long: Used by the multi-rotor specific drag force model.
Increasing this makes the multi-rotor wind estimates adjust more slowly.
type: float
default: 2.5
min: 0.5
Expand Down Expand Up @@ -1082,7 +1084,7 @@ parameters:
decimal: 1
EKF2_MCOEF:
description:
short: Propeller momentum drag coefficient used for multi-rotor wind estimation
short: Propeller momentum drag coefficient for multi-rotor wind estimation
long: This parameter controls the prediction of drag produced by the propellers
when flying a multi-copter, which enables estimation of wind drift when
enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect
Expand All @@ -1104,8 +1106,7 @@ parameters:
decimal: 2
EKF2_ASPD_MAX:
description:
short: Upper limit on airspeed along individual axes used to correct baro
for position error effects
short: Maximum airspeed used for baro static pressure compensation
type: float
default: 20.0
min: 5.0
Expand Down Expand Up @@ -1209,8 +1210,7 @@ parameters:
decimal: 1
EKF2_ABL_TAU:
description:
short: Time constant used by acceleration and angular rate magnitude checks
used to inhibit accel bias learning
short: Accel bias learning inhibit time constant
long: The vector magnitude of angular rate and acceleration used to check
if learning should be inhibited has a peak hold filter applied to it with
an exponential decay. This parameter controls the time constant of the decay.
Expand Down Expand Up @@ -1333,8 +1333,8 @@ parameters:
decimal: 1
EKF2_AGP_NOISE:
description:
short: Measurement noise for aux global position observations used to lower
bound or replace the uncertainty included in the message
short: Measurement noise for aux global position measurements
long: Used to lower bound or replace the uncertainty included in the message
type: float
default: 0.9
min: 0.01
Expand Down
4 changes: 2 additions & 2 deletions validation/module_schema.yaml
View file
Original file line number Diff line number Diff line change
Expand Up @@ -142,13 +142,13 @@ parameters:
# (Extend this list as needed)
type: string
allowed: [
'%', 'Hz', 'mAh',
'%', 'Hz', '1/s', 'mAh',
'rad', '%/rad', 'rad/s', 'rad/s^2', '%/rad/s', 'rad s^2/m','rad s/m',
'bit/s', 'B/s',
'deg', 'deg*1e7', 'deg/s', 'deg/s^2',
'celcius', 'gauss', 'gauss/s', 'mgauss', 'mgauss^2',
'hPa', 'kg', 'kg/m^2', 'kg m^2', 'kg/m^3',
'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad',
'mm', 'm', 'm/s', 'm^2', 'm/s^2', 'm/s^3', 'm/s^2/sqrt(Hz)', 'm/s/rad', 'g0',
'Ohm', 'V', 'A',
'us', 'ms', 's',
'S', 'A/%', '(m/s^2)^2', 'm/m', 'tan(rad)^2', '(m/s)^2', 'm/rad',
Expand Down

0 comments on commit 8bf1cf0

Please sign in to comment.