Parameter Tuning EKF

ArduCopter
1

There are a lot of parameters related to EKF(Extended Kalman Filter) to tune as mentioned in this page
http://ardupilot.org/dev/docs/extended-kalman-filter.html#extended-kalman-filter-ahrs-ekf-use
such as: AHRS_EKF_USE, EKF_ABIAS_PNOISE & EKF_ACC_PNOISE.

How can I tune these parameters? May someone please guide me to do this?

Thanks!

2

unless you already know what to do, and why, there is nothing to “tune” there.

3

As always the wiki is our friend

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

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