# Using the ECL EKF

**URL:** <https://discuss.px4.io/t/using-the-ecl-ekf/16999>\
**Category:** PX4 Autopilot\
**Created:** [June 4, 2020, 9:55am UTC](https://discuss.px4.io/t/using-the-ecl-ekf/16999 "2020-06-04T09:55:59Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![bulutgul](https://discuss.px4.io/user_avatar/discuss.px4.io/bulutgul/32/5370_2.png) [@bulutgul](https://discuss.px4.io/u/bulutgul)\
**Post date:** [June 4, 2020, 9:55am UTC](https://discuss.px4.io/t/using-the-ecl-ekf/16999/1 "2020-06-04T09:55:59Z")

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Hi all,

[Using the ECL EKF page](https://docs.px4.io/v1.9.0/en/advanced_config/tuning_the_ecl_ekf.html) mentions the ekf2\_innovations message and has been linked but is unreachable. When I check the uorb message list, I see the following messages about ekf2;

- [ekf2\_timestamps.msg](https://github.com/PX4/Firmware/blob/master/msg/ekf2_timestamps.msg)

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**Author:** ![JulianOes](https://discuss.px4.io/user_avatar/discuss.px4.io/julianoes/32/30_2.png) [@JulianOes](https://discuss.px4.io/u/JulianOes)\
**Post date:** [June 4, 2020, 1:12pm UTC](https://discuss.px4.io/t/using-the-ecl-ekf/16999/2 "2020-06-04T13:12:39Z")

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It might have been renamed to:

> <https://github.com/PX4/Firmware/blob/master/msg/estimator_innovations.msg>

It would be great if you could make a pull request with any corrections you find here: [https://github.com/PX4/px4\_user\_guide](https://github.com/PX4/px4_user_guide)

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**Author:** ![bulutgul](https://discuss.px4.io/user_avatar/discuss.px4.io/bulutgul/32/5370_2.png) [@bulutgul](https://discuss.px4.io/u/bulutgul)\
**Post date:** [June 4, 2020, 1:32pm UTC](https://discuss.px4.io/t/using-the-ecl-ekf/16999/3 "2020-06-04T13:32:47Z")

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Thanks for the answer, I am making the correction and make a pull request.

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**Author:** ![hamishwillee](https://discuss.px4.io/user_avatar/discuss.px4.io/hamishwillee/32/3469_2.png) [@hamishwillee](https://discuss.px4.io/u/hamishwillee)\
**Post date:** [June 8, 2020, 11:36pm UTC](https://discuss.px4.io/t/using-the-ecl-ekf/16999/4 "2020-06-08T23:36:47Z")

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Thanks! For anyone else coming here, should all be correct in current master version of the docs.