# Sensor Mode?

**URL:** <https://discuss.px4.io/t/sensor-mode/4537>\
**Category:** PX4 Autopilot\
**Created:** [September 29, 2017, 2:04am UTC](https://discuss.px4.io/t/sensor-mode/4537 "2017-09-29T02:04:46Z")\
**Posts on this page:** 1\
**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:** [September 29, 2017, 2:04am UTC](https://discuss.px4.io/t/sensor-mode/4537/1 "2017-09-29T02:04:46Z")

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Is there a way to tune the weight of the various sensors that go into the EKF solution? We are trying to incorporate PX4 into a sensor (not aircraft) and have attached it to a 1 dimension (pitch) gimbal. We set the gimbal to stare nadir and the aircraft is flying pretty smoothly but the EKF output from the sensor output doesn’t look right. I think the EKF is forward looking and trying to predict but is getting so little motion in pitch due to the gimbal that it can’t resolve. Does that make sense?

 ![](https://discuss.px4.io/uploads/default/original/2X/b/bb0c17187d27db4ef3debb8af1b4294943fb6dcd.png)

 ![](https://discuss.px4.io/uploads/default/original/2X/6/6c18d59af16febe898be24862da776c1aadf3fe4.png)