The differences between EKF2 and EFK3

ArduCopter Copter 3.5
1

Hi,all

I want to enable LidarLite3 in my copter, someone tell me that I should select range finder as primary height sensor.
I see the EKF2 and EKF3 can be selected for LidarLite3, so which one should I enable, EKF2 or EKF3, what’s the
differences between them?

0
Use Baro
1
Use Range Finder
2
Use GPS
3
Use Range Beacon

Tom

2

Tom,

You should have search before posting a new topic. It was already asked: Question about EKF filters in the ardupilot code