Hi!
Not yet.
But I think, that I should test this list of params:
AHRS_EKF_TYPE,3
AHRS_GPS_USE,0
COMPASS_ENABLE,0
COMPASS_USE,0
COMPASS_USE2,0
COMPASS_USE3,0
EK3_ENABLE,1
EK3_IMU_MASK,1
EK3_FLOW_USE,0
EK3_RNG_USE_HGT,-1
EK3_SRC_OPTIONS,0
EK3_SRC1_POSXY,0
EK3_SRC1_POSZ,1
EK3_SRC1_VELXY,0
EK3_SRC1_VELZ,0
EK3_SRC1_YAW,0
EK3_SRC2_POSXY,0
EK3_SRC2_POSZ,1
EK3_SRC2_VELXY,0
EK3_SRC2_VELZ,0
EK3_SRC2_YAW,0
EK3_SRC3_POSXY,0
EK3_SRC3_POSZ,1
EK3_SRC3_VELXY,0
EK3_SRC3_VELZ,0
EK3_SRC3_YAW,0
GPS_TYPE,0
GPS_TYPE2,0
INS_ACC_BODYFIX,2
INS_ENABLE_MASK,127
INS_FAST_SAMPLE,3