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4.6: EKF3 source set aux sw rename #6287

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Nov 13, 2024
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4.6: EKF3 source set aux sw rename #6287

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4 changes: 2 additions & 2 deletions common/source/docs/common-auxiliary-functions.rst
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Original file line number Diff line number Diff line change
Expand Up @@ -199,7 +199,7 @@ Supported Features
+----------------------+----------------------------+----------+---------+---------+
| 89 | Force Flare | | X | |
+----------------------+----------------------------+----------+---------+---------+
| 90 | EKF Position Source | X | X | X |
| 90 | EKF Source Set | X | X | X |
+----------------------+----------------------------+----------+---------+---------+
| 91 | Airspeed Ratio Calibrate | | X | |
+----------------------+----------------------------+----------+---------+---------+
Expand Down Expand Up @@ -478,7 +478,7 @@ Other functions are:
| pitch for flare when landing Tilt Rotor QuadPlanes.
| Middle: The pilot retains pitch control during a flare.
| High: Pitch set to :ref:`LAND_PITCH_DEG<LAND_PITCH_DEG>`. Allows switching
EKF Position Source | between up to three source sets manually for EKF3 (only).
EKF Source Set | between up to three source sets manually for EKF3 (only).
| See :ref:`common-non-gps-to-gps`.
Airspeed Ratio Calibrate | Activates calibration of airspeed ratio in flight. Best results
| occur while executing course changes over 360 degrees over
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2 changes: 1 addition & 1 deletion common/source/docs/common-ekf-sources.rst
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Expand Up @@ -35,7 +35,7 @@ Source Switching

Three sets of EKF position and velocity source parameters are provided and by default the 1st set is used (e.g. the _SRC1 set).

The active set can be selected via an :ref:`RC auxiliary switch <common-auxiliary-functions>` (e.g. set ``RCx_OPTION`` to "90" / "EKF Position Source").
The active set can be selected via an :ref:`RC auxiliary switch <common-auxiliary-functions>` (e.g. set ``RCx_OPTION`` to "90" / "EKF Source Set").

Ground stations or companion computers may set the source by sending a `MAV_CMD_SET_EKF_SOURCE_SET <https://mavlink.io/en/messages/ardupilotmega.html#MAV_CMD_SET_EKF_SOURCE_SET>`__ mavlink command but no GCSs are currently known to implement this.

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