Sometimes detailed research doesn’t improve your novel. Doing research for my medieval novels about Ermengarde of Narbonne, I came across a confusing thing. An escalade is the proper name for the act of using scaling ladders on the ramparts of besieged castles. http://www.thefreedictionary.com/escalade.
And yet if I were to use this lovely and appropriate word, everyone would think about the Cadillac luxury car of that name, and that would take my readers out of the twelfth century and into the modern world.