Help Interpreting EKF2 Barometer & Wind Estimation Logs for Multicopter

PX4 Autopilot
1

Hi all,

I’m currently tuning the EKF2 settings on my multicopter and would appreciate some guidance understanding specific parts of the workflow and interpreting the log results.

Setup Overview:

  • Multicopter

  • Height reference set to GPS

  • Barometer is enabled for height fusion (EKF2_BARO_CTRL)

  • I aim to tune:

    • Static pressure position error correction

    • Wind estimation using drag specific forces

I have already completed a flight in Position mode, performing repeated maneuvers (forward/backward/left/right/up/down) from rest to full speed, in calm conditions as recommended.

Now I need help with:

  1. How to correctly interpret the outputs from:

    • baro_static_pressure_compensation_tuning.py

    • mc_wind_estimator_tuning.py

  2. How to check the validity of outputs to these EKF2 parameters:

    • EKF2_PCOEF_XP, XN, YP, YN, Z (for static pressure error correction)

    • EKF2_BCOEF_X, Y, EKF2_MCOEF, and EKF2_DRAG_NOISE (for wind estimation)

  3. Understanding the implications of these parameters on height estimation and stability during dynamic flight

Also, a quick clarification: Since my height source is GPS, is the baro still used actively for bias correction, or does it only serve as a fallback? I’ve extracted the .ulg file using QGroundControl and can share the log file if needed.

Thanks in advance for your support!