I’m looking at a log of Pixhawk 6X which has 6 EKFs running. It seems to have a problem with “high accel bias” and switches between the EKF instances.
I’m looking at the different estimators and their accel biases and it looks like only instance 0 and 1 actually have a non-zero bias. Is that expected? And if so, why? Are there different configurations/settings for the different EKF instances? And if so, where can I look up these settings?