PX4 EKF Testing

Is there a way to test the EKF without control inputs and strictly on sensor outputs? Is there a PARAM to weight all the control inputs to 0? I want to attach the SDF onto a drone and just use it’s predicted telemetry base off sensors.

An EKF does not necessarily need to use control inputs and in the case of our implementation we never use them.

Thanks! Is there any chance the new mag_calibration.cpp will make it into the next release? “commander: add ellipsoid 9 param fit for magnetometer corrections”