Using EK3 in Copter 4.0.X

ArduCopter Copter 4.0
1

Hi there,

I’m in a situation where I need to rollback my vehicle from Copter 4.2.2 to Copter 4.0.7. In 4.2, EK3 is the default, but in 4.0, it’s still EK2. I’m trying as best I can to preserve the tune and settings in the rollback because the vehicle performs very well with Copter 4.2.

Here are my questions:

  1. In going back to 4.0, should I switch back to EK2, or would folks recommend sticking with EK3?

  2. In 4.2 I had EK3_IMU_MASK set to 7 (use 3X IMU), but in 4.0.7, the default value is 3 (use 2X IMU). I understand that this parameter directly affects CPU load and I don’t want to overwhelm the AP if 4.0 is less efficient/optimized compared to 4.2. For reference, I’m using Cube Blue H7 (same as Cube Orange).

I realize there might not be concrete answers to these questions, but I would greatly appreciate anyone’s thoughts and opinions on the best course of action.

Kind regards and thank you.

2

Why you need to revert to 4.0? Why don’t you go to the latest stable instead?

3

Probably for the same reason a Cube Blue is employed…overbearing customer requirements. The “best” course of action would be to remove such restrictions.

Failing that, I don’t see any reason not to use EKF3, even in the slightly dated firmware.

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