How to estimate the EK3 height algorithm

ArduCopter
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1

When running the EK3 height estimation algorithm, what parameter is required to change the height estimation algorithm, and what is the exact parameter required to change the EK3 height estimation algorithm?Please let me know because my drone was not maintaining its height in auto mode; I have attached the log file as well.

2

I’m attaching the log file link below. LOG LINK

3

https://ardupilot.org/dev/docs/extended-kalman-filter.html

https://ardupilot.org/dev/docs/ekf2-estimation-system.html

and

https://ardupilot.org/dev/docs/common-ek3-affinity-lane-switching.html

4

Actually, I need the EKF parameters for altitude estimation.