EKF2 Change covariance value for vertical velocity

PX4 Autopilot Estimation (EKF2) 🎲
1

Hi there!

I would like my EKF2 to converge a bit more on the barometer, and use less on the vertical velocity coming from the GPS.
Looking at the EKF report, I get the attached plot.

I tried to tweak the EKF2_GPS_V_NOISE, as well as EKF2_ACC_NOISE but it doesn’t seem to change anything to the vertical velocity covariance.

Any help is appreciated.

Thanks!

report
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