How to tune the EKF filter

ArduCopter Copter 3.5
1

Beyond what is in the documentation, where can I find more information on EKF specific parameters and how to configure them? I am always having a problem with EKF. It takes a good 15 minutes for EKF to clear and that to me sounds excessive. I stretched my telemetry module to the under side of my Tarot 650 and that seemed to help. But can someone explain like I’m 5 how to configure this? Just running default parameters on a pixhawk.

2

Would adding a pix flow improve ekf performance?

3

Found my answers!

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

1 Like
4

Actually, that doesnt seem to work. It seems it is outdated as the parameters listed there no longer exist in the Full Parameter List.

1 Like
5

try analyzing the logs there is some documentation on that. That is a good starting point.

6

Assuming we have the .bin file from an actual flight, how can we use that data to further tune the system by varying the parameters? The Replay tool (apparently, to me) does not seem to work for changing the parameters as described here:

and here of course:

https://ardupilot.org/dev/docs/testing-with-replay.html

Are there any other ways to tune the EKF Filter based on real-world data?