From 5c3788c57d98163ed1fa8ed8cb6ecf637508137b Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Fri, 22 Jun 2018 10:54:17 +1000 Subject: [PATCH] Tidy state estimator docs --- en/advanced/switching_state_estimators.md | 29 +++++++---------------- 1 file changed, 9 insertions(+), 20 deletions(-) diff --git a/en/advanced/switching_state_estimators.md b/en/advanced/switching_state_estimators.md index 76afae73b5d..1f22668ad85 100644 --- a/en/advanced/switching_state_estimators.md +++ b/en/advanced/switching_state_estimators.md @@ -1,27 +1,18 @@ # Switching State Estimators -This page shows you which state estimators are available and how you can switch between them. - -## Available estimators - -**1. Q attitude estimator** - -The attitude Q estimator is a very simple, quaternion based complementary filter for attitude. - -**2. INAV position estimator** -The INAV position estimator is a complementary filter for 3D position and velocity states. - - -**3. LPE position estimator** +This page shows you which state estimators are available and how you can switch between them. -The LPE position estimator is an extended kalman filter for 3D position and velocity states. +## Available #stimators -**4. EKF2 attitude, position and wind states estimator** +The available estimators are: +- **Q attitude estimator** - The attitude Q estimator is a very simple, quaternion based complementary filter for attitude. +- **INAV position estimator** - The INAV position estimator is a complementary filter for 3D position and velocity states. +- **LPE position estimator** - The LPE position estimator is an extended kalman filter for 3D position and velocity states. +- **EKF2 attitude, position and wind states estimator** - EKF2 is an extended kalman filter estimating attitude, 3D position / velocity and wind states. -EKF2 is an extended kalman filter estimating attitude, 3D position / velocity and wind states. +## How to Enable Different Estimators -## How to enable different estimators -For multirotors and VTOL use the parameter **SYS_MC_EST_GROUP** to chose between the following configurations. +For multirotors and VTOL use the parameter [SYS_MC_EST_GROUP](../advanced/parameter_reference.md#SYS_MC_EST_GROUP) to choose between the following configurations. | SYS_MC_EST_GROUP | Q Estimator| INAV | LPE | EKF2 | @@ -29,5 +20,3 @@ For multirotors and VTOL use the parameter **SYS_MC_EST_GROUP** to chose between | 0 | enabled | enabled | | | | 1 | enabled | | enabled | | | 2 | | | | enabled | - -