There are a lot of parameters related to EKF(Extended Kalman Filter) to tune as mentioned in this page
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?
You should not need to change these settings as changing the control loop PID gains will have much more effect.