I found modification to code is not necessary. I only need to set EK2_POSNE_M_NSE to a lower value to make EKF trust GPS position more.
https://discuss.ardupilot.org/t/how-does-arducopter-deal-with-rtk-data/13952
I found modification to code is not necessary. I only need to set EK2_POSNE_M_NSE to a lower value to make EKF trust GPS position more.
https://discuss.ardupilot.org/t/how-does-arducopter-deal-with-rtk-data/13952