docs: add information about EKF2 parameter in PX4 1.14+

CopterExpress · Oct 11, 2023 · 742d053 · 742d053
1 parent af1b993
commit 742d053
Show file tree

Hide file tree

Showing 2 changed files with 24 additions and 4 deletions.
diff --git a/docs/en/parameters.md b/docs/en/parameters.md
@@ -39,17 +39,27 @@ In case of using EKF2 (official firmware):
 
 |Parameter|Value|Comment|
 |-|-|-|
-|`EKF2_AID_MASK`|26|Checkboxes: *flow* + *vision position* + *vision yaw*.<br>Details: [Optical Flow](optical_flow.md), [ArUco markers](aruco_map.md), [GPS](gps.md).|
+|`EKF2_AID_MASK`\*|26|Checkboxes: *flow* + *vision position* + *vision yaw*.<br>Details: [Optical Flow](optical_flow.md), [ArUco markers](aruco_map.md), [GPS](gps.md).|
 |`EKF2_OF_DELAY`|0||
 |`EKF2_OF_QMIN`|10||
 |`EKF2_OF_N_MIN`|0.05||
 |`EKF2_OF_N_MAX`|0.2||
-|`EKF2_HGT_MODE`|3 (*Vision*)|If the [rangefinder](laser.md) is present and flying over horizontal floor – 2 (*Range sensor*)|
+|`EKF2_HGT_MODE`\*|3 (*Vision*)|If the [rangefinder](laser.md) is present and flying over horizontal floor – 2 (*Range sensor*)|
 |`EKF2_EVA_NOISE`|0.1||
 |`EKF2_EVP_NOISE`|0.1||
 |`EKF2_EV_DELAY`|0||
 |`EKF2_MAG_TYPE`|5 (*None*)|Disabling usage of the magnetometer (when navigating indoor)|
 
+\* — starting from PX4 version 1.14, the parameters marked with an asterisk are replaced with the following:
+
+|Parameter|Value|Comment|
+|-|-|-|
+|`EKF2_EV_CTRL`|11|Checkboxes: *Horizontal position* + *Vertical position* + *Yaw*|
+|`EKF2_GPS_CTRL`|0|All checkboxes are disabled|
+|`EKF2_BARO_CTRL`|0 (*Disabled*)|Barometer is disabled|
+|`EKF2_OF_CTRL`|1 (*Enabled*)|Optical flow is enabled|
+|`EKF2_HGT_REF`|3 (*Vision*)|If the [rangefinder](laser.md) is present and flying over horizontal floor – 2 (*Range sensor*)|
+
 <!-- markdownlint-enable MD031 -->
 
 > **Info** See also: list of default parameters of the [Clover simulator](simulation.md): https://github.com/CopterExpress/clover/blob/master/clover_simulation/airframes/4500_clover.

diff --git a/docs/ru/parameters.md b/docs/ru/parameters.md
@@ -39,17 +39,27 @@
 
 |Параметр|Значение|Примечание|
 |-|-|-|
-|`EKF2_AID_MASK`|26|Чекбоксы: *flow* + *vision position* + *vision yaw*.<br>Подробнее: [Optical Flow](optical_flow.md), [ArUco-маркеры](aruco_map.md), [GPS](gps.md).|
+|`EKF2_AID_MASK`\*|26|Чекбоксы: *flow* + *vision position* + *vision yaw*.<br>Подробнее: [Optical Flow](optical_flow.md), [ArUco-маркеры](aruco_map.md), [GPS](gps.md).|
 |`EKF2_OF_DELAY`|0||
 |`EKF2_OF_QMIN`|10||
 |`EKF2_OF_N_MIN`|0.05||
 |`EKF2_OF_N_MAX`|0.2||
-|`EKF2_HGT_MODE`|3 (*Vision*)|При наличии [дальномера](laser.md) и полете над ровным полом — 2 (*Range sensor*)|
+|`EKF2_HGT_MODE`\*|3 (*Vision*)|При наличии [дальномера](laser.md) и полете над ровным полом — 2 (*Range sensor*)|
 |`EKF2_EVA_NOISE`|0.1||
 |`EKF2_EVP_NOISE`|0.1||
 |`EKF2_EV_DELAY`|0||
 |`EKF2_MAG_TYPE`|5 (*None*)|Выключение магнитометра (при навигации внутри помещения)|
 
+\* — начиная с версии PX4 1.14 помеченные звездочкой параметры заменены на следующие:
+
+|Параметр|Значение|Примечание|
+|-|-|-|
+|`EKF2_EV_CTRL`|11|Чекбоксы: *Horizontal position* + *Vertical position* + *Yaw*|
+|`EKF2_GPS_CTRL`|0|Все чекбоксы сняты|
+|`EKF2_BARO_CTRL`|0 (*Disabled*)|Барометр отключен|
+|`EKF2_OF_CTRL`|1 (*Enabled*)|Optical flow включен|
+|`EKF2_HGT_REF`|3 (*Vision*)|При наличии [дальномера](laser.md) и полете над ровным полом — 2 (*Range sensor*)|
+
 <!-- markdownlint-enable MD031 -->
 
 > **Info** См. также: список параметров по умолчанию в [симуляторе](simulation.md): https://github.com/CopterExpress/clover/blob/master/clover_simulation/airframes/4500_clover.