# PX4 EKF Testing

**URL:** <https://discuss.px4.io/t/px4-ekf-testing/2774>\
**Category:** PX4 Autopilot\
**Created:** [March 16, 2017, 8:27pm UTC](https://discuss.px4.io/t/px4-ekf-testing/2774 "2017-03-16T20:27:10Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![geebd](https://discuss.px4.io/letter_avatar_proxy/v4/letter/g/9dc877/32.png) [@geebd](https://discuss.px4.io/u/geebd)\
**Post date:** [March 16, 2017, 8:27pm UTC](https://discuss.px4.io/t/px4-ekf-testing/2774/1 "2017-03-16T20:27:10Z")

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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.

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**Author:** ![LorenzMeier](https://discuss.px4.io/user_avatar/discuss.px4.io/lorenzmeier/32/17_2.png) [@LorenzMeier](https://discuss.px4.io/u/LorenzMeier)\
**Post date:** [March 16, 2017, 9:25pm UTC](https://discuss.px4.io/t/px4-ekf-testing/2774/2 "2017-03-16T21:25:35Z")

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

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**Author:** ![geebd](https://discuss.px4.io/letter_avatar_proxy/v4/letter/g/9dc877/32.png) [@geebd](https://discuss.px4.io/u/geebd)\
**Post date:** [March 16, 2017, 11:15pm UTC](https://discuss.px4.io/t/px4-ekf-testing/2774/3 "2017-03-16T23:15:14Z")

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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”