Would it be beneficial to enable EKF3

I use Cube black with Here2 and downward facing tfmini plus.

Would it be beneficial to enable EKF3?
Thank you

No, EKF3 is not needed for typical use. EKF2 is still recommended except for some unusual configurations, such as using proximity beacons.

For Cube Black you should make sure that you are running an EKF on all your IMUs with EK2_IMU_MASK = 7 and INS_FAST_SAMPLE = 7, though.

Thank you @Anubis, I learnt something new today, much appreciated

CUBE_BLACK.param (98 Bytes)
I would add for cube black use parameters as recommended in SB 0.02

Thank you @mtnsurveyor very helpful