Baro Compensation setup

ArduCopter Copter 4.5
1

Hello,

Iam trying to set up the wind speed estimation and baro compensation on quadcopter with Pixhawk Orange FC enclosed within the airframe.

After performing the replay with my Baro compensation WCF coefficents (attached)
the XKF1[0].PD and XKF1[100].PD (graph attached) are the equal to each other with the default values of EK3_ALT_M_NSE.
When i update the the EK3_ALT_M_NSE to over 50 the estimated PD value shows drop in altitude during high speed forward flight. I expected the baro compensation works without changing the noise.

It would be helpful to understand why this is happening and how can i get the baro compensation to work without changing the EK3_ALT_M_NSE value or how can i get the right EK3_ALT_M_NSE tuned for my case.

BCOEF_X = 129
BCOEF_Y =86
MCOEF=0.06

I ve attached the log file here

2

@amilcarlucas

this image is the collection of plots showing EKF1[100].PD from the replay with increasing EKF3_ALT_M_NSE and EKF1[0].PD estimates from flight log. Will the baro compensation work by setting the BARO1_WCF_FWD BCK RGT LFT to achieve the EKF1[100].PD to compensate the drop in altitude at high speed?
please advise on how to validate the effectivity of the BARO1_WCF coefficents