How to weighting GPHDT(from indoorGPS) for Indoor Flight

ArduCopter Copter 4.0
1

Hello,
I’m trying to indoor flight using marvelmind’s beacon.
Indoors, the magenetometer does not work smoothly, so I use GPHDT and gyro.

After I read some Topic,
I confirmed that drone’s yaw is reflected GPHDT heading.
(Using NMEA - HDT message as heading/yaw source instead of compass)
EK3_ENABLE: 1
AHRS_EKF_TYPE: 3
EK3_MAG_CAL: 5

I am doing a test with the GPHDT inverted 180 degrees. However, when reversed to 180 degrees, the yaw value overshoot occurs and it takes a very long time to converge.
Alternatively, even a small rotation of the aircraft will increase the EKF variance significantly.

Meanwhile, throught the program provided by marvelmind, i have confirmed that the heading value is accurately displayed at 8Hz.

I am modifying the following parameters.
However, we don’t yet know which parameters gphdt is being weighted by.
EK3_GYRO_P_NSE
EK3_YAW_M_NSE
EK3_MAG_M_NSE
However, it is difficult to see the difference.
Is there any way you can recommend heading to follow the GPHDT value?

2

Hi,
I’m trying to do exactly what you are doing. I was wondering if you could post a param file and describe your setup? I have tried the Marvelmind NMEA HDT license, and the u-blox license. I have yaw partially working with the NMEA license using EKF3, but the GPS yaw value doesn’t change. Thanks!