optical flow: fix doc on how to enable flow with ekf2 #320
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en/sensor/optical_flow.md
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| ## Estimators | ||
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| ### Extended Kalman Filter (EKF2) | ||
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| For Optical Flow fusion using EKF2, the parameter [EKF2_AID_MASK](../advanced_config/parameter_reference.md#EKF2_AID_MASK) must be set to `1`. | ||
| For Optical Flow fusion using EKF2, the second bit of the parameter [EKF2_AID_MASK](../advanced_config/parameter_reference.md#EKF2_AID_MASK) must be enabled (e.g. flow only -> `2`). |
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@ChristophTobler Thanks. It is definitely more correct to refer to "bits enabled" rather than a numerical value. Do people tend to index bitmaps from 1 (or zero)?
Perhaps the last bit might be better as (i.e. to enable just flow the decimal value would be 2).
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I think it's a bad idea to say bits/numbers in user-facing docs, since QGC exposes either check-boxes or a drop-down list with strings, which are in no way shown to be correlated with these numbers.
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@mhkabir Good point. I was going to argue that the information about bits is also useful for people working with the parameter via a developer API, but then they will know to follow the link to the parameter.
How about we add a screenshot. So something like:
For optical flow fusion using EKF2, set the use optical flow flag in the EKF2_AID_MASK parameter, as shown using QGroundControl below:
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Sure, makes sense!
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Great :-). Are you set up with gitbook enough to do this - or do you want me to look at it?
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Mh why gitbook? can I not just add the pic and link it to the md file?
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I only ever use git to add images. If you're able via some other tool - ie the gitbook editor, be my guest :-)
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@hamishwillee does that work for you? |
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Yes it does. Thanks! merged. |
Just came across this: '1' means GPS only. The second bit needs to be enabled for flow