AHRS EKF2 vs EKF3

ArduPlane Plane 4.0
1

Hi,
I enabled EKF3 and AHRS_TYPE 3, should I disable EKF2 or it still have a usage?
thanks

2

Disable EKF2 so that it does not load the processor.

3

ok thanks a lot :slightly_smiling_face:

4

I get very strong pitch oscillations from the efk2 to ekf3 transition, The wing was flying well before this change.
I’m on autotune level 7, should I get back to 6?
Or to act on another parameter?