How to enable EKF on older version of APM


I’m trying to figure out how to enable the EKF on our older version APM board. I’ve read that I need to enable the AHRS_EKF_USE parameter to ‘1’, but I do not have that parameter when I connect to APM Planner. Does anyone have an idea of how to do this?

Any help would be appreciated

Thank you!

Not gonna happen! You need a 32 bit Pixhawk board or better. The 8 bit APM can’t even think about doing all the high speed complex calculations that the EKF does.

Thank you! That makes sense. Thanks for clearing that up for me!