On the “Windspeed Estimation and Baro Compensation” page (Windspeed Estimation and Baro Compensation — Copter documentation), it seems that there’s a typo in the section “Barometer Position Error Compensation” in the 5th line that reads
“BARO1_WCF_LFT : Pressure error coefficient in positive Y direction (left)”
Shouldn’t that say “negative Y direction”?
Just need to be certain.