From 022d07cc645d9c4fbabeab62ebe9f9150c62a4f4 Mon Sep 17 00:00:00 2001 From: Matt Kear <34512430+Gone4Dirt@users.noreply.github.com> Date: Tue, 6 Feb 2024 16:19:04 +0000 Subject: [PATCH] common-ekf-sources: Add comments around source options --- common/source/docs/common-ekf-sources.rst | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/common/source/docs/common-ekf-sources.rst b/common/source/docs/common-ekf-sources.rst index 7cc78d5b66..fde94cf394 100644 --- a/common/source/docs/common-ekf-sources.rst +++ b/common/source/docs/common-ekf-sources.rst @@ -27,4 +27,10 @@ Three set of EKF position and velocity source parameters are provided which can This feature is especially helpful when using :ref:`common-non-gps-to-gps`. +Source Switching +================ + +There is an option to fuse all sources of velocity into the EKF. This will take velocity information from the XY and Z sources defined by :ref:`EK3_SRC1_VELXY` and :ref:`EK3_SRC1_VELZ`, where 'x' is the source number (1-3). To enable this option set the first bit in the :ref:`EK3_SRC_OPTIONS` bitmask. + +.. warning:: When using this option, users should ensure that the velocity measurements being provided to the EKF are both in the same reference frame/co-ordinate system.