Parameter Tuning EKF

Help
1

There are a lot of parameters related to EKF(Extended Kalman Filter) to tune as mentioned in this page

http://ardupilot.org/dev/docs/extended-kalman-filter.html#extended-kalman-filter-ahrs-ekf-use

such as: AHRS_EKF_USE, EKF_ABIAS_PNOISE & EKF_ACC_PNOISE.

How can I tune these parameters? May someone please guide me to do this?

Thanks!

2

You should not need to change these settings as changing the control loop PID gains will have much more effect.

3

Hey AhedNaif, did you find how to tune these parameters ?