BARO2_WCF_ parameters¶
7 parameters in the BARO2_WCF_ family. ArduCopter 4.7 only — other vehicles share many of these names but not always the same ranges or meanings.
BARO2_WCF_BCK¶
Pressure error coefficient in negative X direction (backwards)
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the X body axis. If the baro height estimate rises during backwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Range |
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Increment |
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User level |
Advanced |
BARO2_WCF_DN¶
Pressure error coefficient in negative Z direction (down)
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during descending flight (or forward flight with a high backwards lean angle, eg braking manoeuvre), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Range |
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Increment |
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User level |
Advanced |
BARO2_WCF_ENABLE¶
Wind coefficient enable
This enables the use of wind coefficients for barometer compensation
User level |
Advanced |
Values¶
Value |
Meaning |
|---|---|
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Disabled |
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Enabled |
BARO2_WCF_FWD¶
Pressure error coefficient in positive X direction (forward)
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the X body axis. If the baro height estimate rises during forwards flight, then this will be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Range |
|
Increment |
|
User level |
Advanced |
BARO2_WCF_LFT¶
Pressure error coefficient in negative Y direction (left)
This is the ratio of static pressure error to dynamic pressure generated by a negative wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the left, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Range |
|
Increment |
|
User level |
Advanced |
BARO2_WCF_RGT¶
Pressure error coefficient in positive Y direction (right)
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Y body axis. If the baro height estimate rises during sideways flight to the right, then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Range |
|
Increment |
|
User level |
Advanced |
BARO2_WCF_UP¶
Pressure error coefficient in positive Z direction (up)
This is the ratio of static pressure error to dynamic pressure generated by a positive wind relative velocity along the Z body axis. If the baro height estimate rises above truth height during climbing flight (or forward flight with a high forwards lean angle), then this should be a negative number. Multirotors can use this feature only if using EKF3 and if the EK3_DRAG_BCOEF_X and EK3_DRAG_BCOEF_Y parameters have been tuned.
Range |
|
Increment |
|
User level |
Advanced |