PX4 parameter group: EKF2

This page lists named parameter set commands in the PX4 EKF2 group. All commands use PARAM_SET and are governed by PX4_COMMAND_MODE, operator guard, and PX4_PARAMETER_WRITE_ALLOWLIST.

Metric	Count
Parameters	164
`FLOAT`	120
`INT32`	44
`Standard`	163
`System`	1
`Developer`	0
Reboot required	22
`volatile`	1

Parameters

PX4 Parameter	Command type	Category	Type	Default	Range	Unit	Shape	Reboot	Volatile	PX4 short description
`EKF2_ABIAS_INIT`	`px4.parameter.ekf2_abias_init.set`	Standard	Float	0.2	0.0..0.5	m/s^2	-	yes	no	1-sigma IMU accelerometer switch-on bias
`EKF2_ABL_ACCLIM`	`px4.parameter.ekf2_abl_acclim.set`	Standard	Float	25.0	20.0..200.0	m/s^2	-	no	no	Maximum IMU accel magnitude that allows IMU bias learning
`EKF2_ABL_GYRLIM`	`px4.parameter.ekf2_abl_gyrlim.set`	Standard	Float	3.0	2.0..20.0	rad/s	-	no	no	Maximum IMU gyro angular rate magnitude that allows IMU bias learning
`EKF2_ABL_LIM`	`px4.parameter.ekf2_abl_lim.set`	Standard	Float	0.4	0.0..0.8	m/s^2	-	no	no	Accelerometer bias learning limit
`EKF2_ABL_TAU`	`px4.parameter.ekf2_abl_tau.set`	Standard	Float	0.5	0.1..1.0	s	-	no	no	Accel bias learning inhibit time constant
`EKF2_ACC_B_NOISE`	`px4.parameter.ekf2_acc_b_noise.set`	Standard	Float	0.003	0.0..0.01	m/s^3	-	no	no	Process noise for IMU accelerometer bias prediction
`EKF2_ACC_NOISE`	`px4.parameter.ekf2_acc_noise.set`	Standard	Float	0.35	0.01..1.0	m/s^2	-	no	no	Accelerometer noise for covariance prediction
`EKF2_AGP0_CTRL`	`px4.parameter.ekf2_agp0_ctrl.set`	Standard	Int32	0	0..3	-	bitmask 2	no	no	Auxiliary global position sensor 0 aiding
`EKF2_AGP0_DELAY`	`px4.parameter.ekf2_agp0_delay.set`	Standard	Float	0.0	0.0..1000.0	ms	-	yes	no	Auxiliary global position sensor 0 delay (to IMU)
`EKF2_AGP0_GATE`	`px4.parameter.ekf2_agp0_gate.set`	Standard	Float	3.0	>= 1.0	SD	-	no	no	Gate size for auxiliary global position sensor 0 fusion
`EKF2_AGP0_ID`	`px4.parameter.ekf2_agp0_id.set`	Standard	Int32	0	0..255	-	-	no	no	Auxiliary global position sensor 0 ID
`EKF2_AGP0_MODE`	`px4.parameter.ekf2_agp0_mode.set`	Standard	Int32	0	-	-	enum 2	no	no	Fusion reset mode for sensor 0
`EKF2_AGP0_NOISE`	`px4.parameter.ekf2_agp0_noise.set`	Standard	Float	1.0	>= 0.01	m	-	no	no	Measurement noise for auxiliary global position sensor 0
`EKF2_AGP1_CTRL`	`px4.parameter.ekf2_agp1_ctrl.set`	Standard	Int32	0	0..3	-	bitmask 2	no	no	Auxiliary global position sensor 1 aiding
`EKF2_AGP1_DELAY`	`px4.parameter.ekf2_agp1_delay.set`	Standard	Float	0.0	0.0..1000.0	ms	-	yes	no	Auxiliary global position sensor 1 delay (to IMU)
`EKF2_AGP1_GATE`	`px4.parameter.ekf2_agp1_gate.set`	Standard	Float	3.0	>= 1.0	SD	-	no	no	Gate size for auxiliary global position sensor 1 fusion
`EKF2_AGP1_ID`	`px4.parameter.ekf2_agp1_id.set`	Standard	Int32	0	0..255	-	-	no	no	Auxiliary global position sensor 1 ID
`EKF2_AGP1_MODE`	`px4.parameter.ekf2_agp1_mode.set`	Standard	Int32	0	-	-	enum 2	no	no	Fusion reset mode for sensor 1
`EKF2_AGP1_NOISE`	`px4.parameter.ekf2_agp1_noise.set`	Standard	Float	1.0	>= 0.01	m	-	no	no	Measurement noise for auxiliary global position sensor 1
`EKF2_AGP2_CTRL`	`px4.parameter.ekf2_agp2_ctrl.set`	Standard	Int32	0	0..3	-	bitmask 2	no	no	Auxiliary global position sensor 2 aiding
`EKF2_AGP2_DELAY`	`px4.parameter.ekf2_agp2_delay.set`	Standard	Float	0.0	0.0..1000.0	ms	-	yes	no	Auxiliary global position sensor 2 delay (to IMU)
`EKF2_AGP2_GATE`	`px4.parameter.ekf2_agp2_gate.set`	Standard	Float	3.0	>= 1.0	SD	-	no	no	Gate size for auxiliary global position sensor 2 fusion
`EKF2_AGP2_ID`	`px4.parameter.ekf2_agp2_id.set`	Standard	Int32	0	0..255	-	-	no	no	Auxiliary global position sensor 2 ID
`EKF2_AGP2_MODE`	`px4.parameter.ekf2_agp2_mode.set`	Standard	Int32	0	-	-	enum 2	no	no	Fusion reset mode for sensor 2
`EKF2_AGP2_NOISE`	`px4.parameter.ekf2_agp2_noise.set`	Standard	Float	1.0	>= 0.01	m	-	no	no	Measurement noise for auxiliary global position sensor 2
`EKF2_AGP3_CTRL`	`px4.parameter.ekf2_agp3_ctrl.set`	Standard	Int32	0	0..3	-	bitmask 2	no	no	Auxiliary global position sensor 3 aiding
`EKF2_AGP3_DELAY`	`px4.parameter.ekf2_agp3_delay.set`	Standard	Float	0.0	0.0..1000.0	ms	-	yes	no	Auxiliary global position sensor 3 delay (to IMU)
`EKF2_AGP3_GATE`	`px4.parameter.ekf2_agp3_gate.set`	Standard	Float	3.0	>= 1.0	SD	-	no	no	Gate size for auxiliary global position sensor 3 fusion
`EKF2_AGP3_ID`	`px4.parameter.ekf2_agp3_id.set`	Standard	Int32	0	0..255	-	-	no	no	Auxiliary global position sensor 3 ID
`EKF2_AGP3_MODE`	`px4.parameter.ekf2_agp3_mode.set`	Standard	Int32	0	-	-	enum 2	no	no	Fusion reset mode for sensor 3
`EKF2_AGP3_NOISE`	`px4.parameter.ekf2_agp3_noise.set`	Standard	Float	1.0	>= 0.01	m	-	no	no	Measurement noise for auxiliary global position sensor 3
`EKF2_ANGERR_INIT`	`px4.parameter.ekf2_angerr_init.set`	Standard	Float	0.1	0.0..0.5	rad	-	yes	no	1-sigma tilt angle uncertainty after gravity vector alignment
`EKF2_ARSP_THR`	`px4.parameter.ekf2_arsp_thr.set`	Standard	Float	0.0	>= 0.0	m/s	-	no	no	Airspeed fusion threshold
`EKF2_ASPD_MAX`	`px4.parameter.ekf2_aspd_max.set`	Standard	Float	20.0	5.0..50.0	m/s	-	no	no	Maximum airspeed used for baro static pressure compensation
`EKF2_ASP_DELAY`	`px4.parameter.ekf2_asp_delay.set`	Standard	Float	100.0	0.0..300.0	ms	-	yes	no	Airspeed measurement delay relative to IMU measurements
`EKF2_AVEL_DELAY`	`px4.parameter.ekf2_avel_delay.set`	Standard	Float	5.0	0.0..300.0	ms	-	yes	no	Auxiliary Velocity Estimate delay relative to IMU measurements
`EKF2_AVEL_EN`	`px4.parameter.ekf2_avel_en.set`	Standard	Int32	1	-	-	enum 2	no	no	Fuse the landing-target relative velocity as auxiliary velocity
`EKF2_BARO_CTRL`	`px4.parameter.ekf2_baro_ctrl.set`	Standard	Int32	1	-	-	enum 2	no	no	Barometric sensor height aiding
`EKF2_BARO_DELAY`	`px4.parameter.ekf2_baro_delay.set`	Standard	Float	0.0	0.0..300.0	ms	-	yes	no	Barometer measurement delay relative to IMU measurements
`EKF2_BARO_GATE`	`px4.parameter.ekf2_baro_gate.set`	Standard	Float	5.0	>= 1.0	SD	-	no	no	Gate size for barometric and GPS height fusion
`EKF2_BARO_NOISE`	`px4.parameter.ekf2_baro_noise.set`	Standard	Float	3.5	0.01..15.0	m	-	no	no	Measurement noise for barometric altitude
`EKF2_BCOEF_X`	`px4.parameter.ekf2_bcoef_x.set`	Standard	Float	100.0	0.0..200.0	kg/m^2	-	no	no	X-axis ballistic coefficient used for multi-rotor wind estimation
`EKF2_BCOEF_Y`	`px4.parameter.ekf2_bcoef_y.set`	Standard	Float	100.0	0.0..200.0	kg/m^2	-	no	no	Y-axis ballistic coefficient used for multi-rotor wind estimation
`EKF2_BETA_GATE`	`px4.parameter.ekf2_beta_gate.set`	Standard	Float	5.0	>= 1.0	SD	-	no	no	Gate size for synthetic sideslip fusion
`EKF2_BETA_NOISE`	`px4.parameter.ekf2_beta_noise.set`	Standard	Float	0.3	0.1..1.0	m/s	-	no	no	Noise for synthetic sideslip fusion
`EKF2_DECL_TYPE`	`px4.parameter.ekf2_decl_type.set`	Standard	Int32	3	0..3	-	bitmask 2	yes	no	Integer bitmask controlling handling of magnetic declination
`EKF2_DELAY_MAX`	`px4.parameter.ekf2_delay_max.set`	Standard	Float	200.0	0.0..1000.0	ms	-	yes	no	Maximum delay of all the aiding sensors
`EKF2_DRAG_CTRL`	`px4.parameter.ekf2_drag_ctrl.set`	Standard	Int32	0	-	-	enum 2	no	no	Multirotor wind estimation selection
`EKF2_DRAG_NOISE`	`px4.parameter.ekf2_drag_noise.set`	Standard	Float	2.5	0.5..10.0	(m/s^2)^2	-	no	no	Specific drag force observation noise variance
`EKF2_EAS_NOISE`	`px4.parameter.ekf2_eas_noise.set`	Standard	Float	1.4	0.5..5.0	m/s	-	no	no	Measurement noise for airspeed fusion
`EKF2_EN`	`px4.parameter.ekf2_en.set`	Standard	Int32	1	-	-	enum 2	no	no	EKF2 enable
`EKF2_EVA_NOISE`	`px4.parameter.ekf2_eva_noise.set`	Standard	Float	0.1	>= 0.05	rad	-	no	no	Measurement noise for vision angle measurements
`EKF2_EVP_GATE`	`px4.parameter.ekf2_evp_gate.set`	Standard	Float	5.0	>= 1.0	SD	-	no	no	Gate size for vision position fusion
`EKF2_EVP_NOISE`	`px4.parameter.ekf2_evp_noise.set`	Standard	Float	0.1	>= 0.01	m	-	no	no	Measurement noise for vision position measurements
`EKF2_EVV_GATE`	`px4.parameter.ekf2_evv_gate.set`	Standard	Float	3.0	>= 1.0	SD	-	no	no	Gate size for vision velocity estimate fusion
`EKF2_EVV_NOISE`	`px4.parameter.ekf2_evv_noise.set`	Standard	Float	0.1	>= 0.01	m/s	-	no	no	Measurement noise for vision velocity measurements
`EKF2_EV_CTRL`	`px4.parameter.ekf2_ev_ctrl.set`	Standard	Int32	0	0..15	-	bitmask 4	no	no	External vision (EV) sensor aiding
`EKF2_EV_DELAY`	`px4.parameter.ekf2_ev_delay.set`	Standard	Float	0.0	0.0..300.0	ms	-	yes	no	Vision Position Estimator delay relative to IMU measurements
`EKF2_EV_NOISE_MD`	`px4.parameter.ekf2_ev_noise_md.set`	Standard	Int32	0	-	-	enum 2	no	no	External vision (EV) noise mode
`EKF2_EV_POS_X`	`px4.parameter.ekf2_ev_pos_x.set`	Standard	Float	0.0	-	m	-	no	no	X position of VI sensor focal point in body frame
`EKF2_EV_POS_Y`	`px4.parameter.ekf2_ev_pos_y.set`	Standard	Float	0.0	-	m	-	no	no	Y position of VI sensor focal point in body frame
`EKF2_EV_POS_Z`	`px4.parameter.ekf2_ev_pos_z.set`	Standard	Float	0.0	-	m	-	no	no	Z position of VI sensor focal point in body frame
`EKF2_EV_QMIN`	`px4.parameter.ekf2_ev_qmin.set`	Standard	Int32	0	0..100	-	-	no	no	External vision (EV) minimum quality (optional)
`EKF2_FUSE_BETA`	`px4.parameter.ekf2_fuse_beta.set`	Standard	Int32	0	-	-	enum 2	no	no	Enable synthetic sideslip fusion
`EKF2_GBIAS_INIT`	`px4.parameter.ekf2_gbias_init.set`	Standard	Float	0.1	0.0..0.2	rad/s	-	yes	no	1-sigma IMU gyro switch-on bias
`EKF2_GND_EFF_DZ`	`px4.parameter.ekf2_gnd_eff_dz.set`	Standard	Float	4.0	0.0..10.0	m	-	no	no	Baro deadzone range for height fusion
`EKF2_GND_MAX_HGT`	`px4.parameter.ekf2_gnd_max_hgt.set`	Standard	Float	0.5	0.0..5.0	m	-	no	no	Height above ground level for ground effect zone
`EKF2_GPS_CHECK`	`px4.parameter.ekf2_gps_check.set`	Standard	Int32	2047	0..4095	-	bitmask 12	no	no	Integer bitmask controlling GPS checks
`EKF2_GPS_CTRL`	`px4.parameter.ekf2_gps_ctrl.set`	Standard	Int32	7	0..15	-	bitmask 4	no	no	GNSS sensor aiding
`EKF2_GPS_MODE`	`px4.parameter.ekf2_gps_mode.set`	Standard	Int32	0	-	-	enum 2	no	no	Fusion reset mode
`EKF2_GPS_P_GATE`	`px4.parameter.ekf2_gps_p_gate.set`	Standard	Float	5.0	>= 1.0	SD	-	no	no	Gate size for GNSS position fusion
`EKF2_GPS_P_NOISE`	`px4.parameter.ekf2_gps_p_noise.set`	Standard	Float	0.5	0.01..10.0	m	-	no	no	Measurement noise for GNSS position
`EKF2_GPS_V_GATE`	`px4.parameter.ekf2_gps_v_gate.set`	Standard	Float	5.0	>= 1.0	SD	-	no	no	Gate size for GNSS velocity fusion
`EKF2_GPS_V_NOISE`	`px4.parameter.ekf2_gps_v_noise.set`	Standard	Float	0.3	0.01..5.0	m/s	-	no	no	Measurement noise for GNSS velocity
`EKF2_GPS_YAW_OFF`	`px4.parameter.ekf2_gps_yaw_off.set`	Standard	Float	0.0	0.0..360.0	deg	-	no	no	Heading/Yaw offset for dual antenna GPS
`EKF2_GRAV_NOISE`	`px4.parameter.ekf2_grav_noise.set`	Standard	Float	1.0	0.1..10.0	g0	-	no	no	Accelerometer measurement noise for gravity based observations
`EKF2_GSF_TAS`	`px4.parameter.ekf2_gsf_tas.set`	Standard	Float	15.0	0.0..100.0	m/s	-	no	no	Default value of true airspeed used in EKF-GSF AHRS calculation
`EKF2_GYR_B_LIM`	`px4.parameter.ekf2_gyr_b_lim.set`	Standard	Float	0.15	0.0..0.4	rad/s	-	no	no	Gyro bias learning limit
`EKF2_GYR_B_NOISE`	`px4.parameter.ekf2_gyr_b_noise.set`	Standard	Float	0.001	0.0..0.01	rad/s^2	-	no	no	Process noise for IMU rate gyro bias prediction
`EKF2_GYR_NOISE`	`px4.parameter.ekf2_gyr_noise.set`	Standard	Float	0.015	0.0001..0.1	rad/s	-	no	no	Rate gyro noise for covariance prediction
`EKF2_HDG_GATE`	`px4.parameter.ekf2_hdg_gate.set`	Standard	Float	2.6	>= 1.0	SD	-	no	no	Gate size for heading fusion
`EKF2_HEAD_NOISE`	`px4.parameter.ekf2_head_noise.set`	Standard	Float	0.3	0.01..1.0	rad	-	no	no	Measurement noise for magnetic heading fusion
`EKF2_HGT_REF`	`px4.parameter.ekf2_hgt_ref.set`	Standard	Int32	1	-	-	enum 4	yes	no	Determines the reference source of height data used by the EKF
`EKF2_IMU_CTRL`	`px4.parameter.ekf2_imu_ctrl.set`	Standard	Int32	7	0..7	-	bitmask 3	no	no	IMU control
`EKF2_IMU_POS_X`	`px4.parameter.ekf2_imu_pos_x.set`	Standard	Float	0.0	-	m	-	no	no	X position of IMU in body frame
`EKF2_IMU_POS_Y`	`px4.parameter.ekf2_imu_pos_y.set`	Standard	Float	0.0	-	m	-	no	no	Y position of IMU in body frame
`EKF2_IMU_POS_Z`	`px4.parameter.ekf2_imu_pos_z.set`	Standard	Float	0.0	-	m	-	no	no	Z position of IMU in body frame
`EKF2_LOG_VERBOSE`	`px4.parameter.ekf2_log_verbose.set`	Standard	Int32	1	-	-	enum 2	no	no	Verbose logging
`EKF2_MAG_ACCLIM`	`px4.parameter.ekf2_mag_acclim.set`	Standard	Float	0.5	0.0..5.0	m/s^2	-	no	no	Horizontal acceleration threshold used for heading observability check
`EKF2_MAG_B_NOISE`	`px4.parameter.ekf2_mag_b_noise.set`	Standard	Float	0.0001	0.0..0.1	gauss/s	-	no	no	Process noise for body magnetic field prediction
`EKF2_MAG_CHECK`	`px4.parameter.ekf2_mag_check.set`	Standard	Int32	1	0..7	-	bitmask 3	no	no	Magnetic field strength test selection
`EKF2_MAG_CHK_INC`	`px4.parameter.ekf2_mag_chk_inc.set`	Standard	Float	20.0	0.0..90.0	deg	-	no	no	Magnetic field inclination check tolerance
`EKF2_MAG_CHK_STR`	`px4.parameter.ekf2_mag_chk_str.set`	Standard	Float	0.2	0.0..1.0	gauss	-	no	no	Magnetic field strength check tolerance
`EKF2_MAG_DECL`	`px4.parameter.ekf2_mag_decl.set`	System	Float	0.0	-	deg	-	no	yes	Magnetic declination
`EKF2_MAG_DELAY`	`px4.parameter.ekf2_mag_delay.set`	Standard	Float	0.0	0.0..300.0	ms	-	yes	no	Magnetometer measurement delay relative to IMU measurements
`EKF2_MAG_E_NOISE`	`px4.parameter.ekf2_mag_e_noise.set`	Standard	Float	0.001	0.0..0.1	gauss/s	-	no	no	Process noise for earth magnetic field prediction
`EKF2_MAG_GATE`	`px4.parameter.ekf2_mag_gate.set`	Standard	Float	3.0	>= 1.0	SD	-	no	no	Gate size for magnetometer XYZ component fusion
`EKF2_MAG_NOISE`	`px4.parameter.ekf2_mag_noise.set`	Standard	Float	0.05	0.001..1.0	gauss	-	no	no	Measurement noise for magnetometer 3-axis fusion
`EKF2_MAG_TYPE`	`px4.parameter.ekf2_mag_type.set`	Standard	Int32	0	-	-	enum 4	yes	no	Type of magnetometer fusion
`EKF2_MCOEF`	`px4.parameter.ekf2_mcoef.set`	Standard	Float	0.15	0.0..1.0	1/s	-	no	no	Propeller momentum drag coefficient for multi-rotor wind estimation
`EKF2_MIN_RNG`	`px4.parameter.ekf2_min_rng.set`	Standard	Float	0.01	>= 0.01	m	-	no	no	Expected range finder reading when on ground
`EKF2_MULTI_IMU`	`px4.parameter.ekf2_multi_imu.set`	Standard	Int32	0	0..4	-	-	yes	no	Multi-EKF IMUs
`EKF2_MULTI_MAG`	`px4.parameter.ekf2_multi_mag.set`	Standard	Int32	0	0..4	-	-	yes	no	Multi-EKF Magnetometers
`EKF2_NOAID_NOISE`	`px4.parameter.ekf2_noaid_noise.set`	Standard	Float	10.0	0.5..50.0	m	-	no	no	Measurement noise for non-aiding position hold
`EKF2_NOAID_TOUT`	`px4.parameter.ekf2_noaid_tout.set`	Standard	Int32	5000000	500000..10000000	us	-	no	no	Maximum inertial dead-reckoning time
`EKF2_OF_CTRL`	`px4.parameter.ekf2_of_ctrl.set`	Standard	Int32	1	-	-	enum 2	no	no	Optical flow aiding
`EKF2_OF_DELAY`	`px4.parameter.ekf2_of_delay.set`	Standard	Float	20.0	0.0..300.0	ms	-	yes	no	Optical flow measurement delay relative to IMU measurements
`EKF2_OF_GATE`	`px4.parameter.ekf2_of_gate.set`	Standard	Float	3.0	>= 1.0	SD	-	no	no	Gate size for optical flow fusion
`EKF2_OF_GYR_SRC`	`px4.parameter.ekf2_of_gyr_src.set`	Standard	Int32	0	-	-	enum 2	no	no	Optical flow angular rate compensation source
`EKF2_OF_N_MAX`	`px4.parameter.ekf2_of_n_max.set`	Standard	Float	0.5	>= 0.05	rad/s	-	no	no	Optical flow maximum noise
`EKF2_OF_N_MIN`	`px4.parameter.ekf2_of_n_min.set`	Standard	Float	0.15	>= 0.05	rad/s	-	no	no	Optical flow minimum noise
`EKF2_OF_POS_X`	`px4.parameter.ekf2_of_pos_x.set`	Standard	Float	0.0	-	m	-	no	no	X position of optical flow focal point in body frame
`EKF2_OF_POS_Y`	`px4.parameter.ekf2_of_pos_y.set`	Standard	Float	0.0	-	m	-	no	no	Y position of optical flow focal point in body frame
`EKF2_OF_POS_Z`	`px4.parameter.ekf2_of_pos_z.set`	Standard	Float	0.0	-	m	-	no	no	Z position of optical flow focal point in body frame
`EKF2_OF_QMIN`	`px4.parameter.ekf2_of_qmin.set`	Standard	Int32	1	0..255	-	-	no	no	In air optical flow minimum quality
`EKF2_OF_QMIN_GND`	`px4.parameter.ekf2_of_qmin_gnd.set`	Standard	Int32	0	0..255	-	-	no	no	On ground optical flow minimum quality
`EKF2_PCOEF_XN`	`px4.parameter.ekf2_pcoef_xn.set`	Standard	Float	0.0	-0.5..0.5	-	-	no	no	Static pressure position error coefficient for the negative X axis
`EKF2_PCOEF_XP`	`px4.parameter.ekf2_pcoef_xp.set`	Standard	Float	0.0	-0.5..0.5	-	-	no	no	Static pressure position error coefficient for the positive X axis
`EKF2_PCOEF_YN`	`px4.parameter.ekf2_pcoef_yn.set`	Standard	Float	0.0	-0.5..0.5	-	-	no	no	Pressure position error coefficient for the negative Y axis
`EKF2_PCOEF_YP`	`px4.parameter.ekf2_pcoef_yp.set`	Standard	Float	0.0	-0.5..0.5	-	-	no	no	Pressure position error coefficient for the positive Y axis
`EKF2_PCOEF_Z`	`px4.parameter.ekf2_pcoef_z.set`	Standard	Float	0.0	-0.5..0.5	-	-	no	no	Static pressure position error coefficient for the Z axis
`EKF2_POS_LOCK`	`px4.parameter.ekf2_pos_lock.set`	Standard	Int32	0	-	-	enum 2	no	no	Enable constant position fusion while on ground
`EKF2_PREDICT_US`	`px4.parameter.ekf2_predict_us.set`	Standard	Int32	10000	1000..20000	us	-	no	no	EKF prediction period
`EKF2_REQ_EPH`	`px4.parameter.ekf2_req_eph.set`	Standard	Float	3.0	0.1..100.0	m	-	no	no	Required EPH to use GPS
`EKF2_REQ_EPV`	`px4.parameter.ekf2_req_epv.set`	Standard	Float	5.0	0.1..100.0	m	-	no	no	Required EPV to use GPS
`EKF2_REQ_FIX`	`px4.parameter.ekf2_req_fix.set`	Standard	Int32	3	-	-	enum 7	no	no	Required GPS fix
`EKF2_REQ_GPS_H`	`px4.parameter.ekf2_req_gps_h.set`	Standard	Float	10.0	>= 0.1	s	-	yes	no	Required GPS health time on startup
`EKF2_REQ_HDRIFT`	`px4.parameter.ekf2_req_hdrift.set`	Standard	Float	0.1	0.1..1.0	m/s	-	no	no	Maximum horizontal drift speed to use GPS
`EKF2_REQ_NSATS`	`px4.parameter.ekf2_req_nsats.set`	Standard	Int32	6	4..12	-	-	no	no	Required satellite count to use GPS
`EKF2_REQ_PDOP`	`px4.parameter.ekf2_req_pdop.set`	Standard	Float	2.5	1.5..5.0	-	-	no	no	Maximum PDOP to use GPS
`EKF2_REQ_SACC`	`px4.parameter.ekf2_req_sacc.set`	Standard	Float	0.5	0.5..5.0	m/s	-	no	no	Required speed accuracy to use GPS
`EKF2_REQ_VDRIFT`	`px4.parameter.ekf2_req_vdrift.set`	Standard	Float	0.2	0.1..1.5	m/s	-	no	no	Maximum vertical drift speed to use GPS
`EKF2_RNGBC_CTRL`	`px4.parameter.ekf2_rngbc_ctrl.set`	Standard	Int32	0	-	-	enum 2	no	no	Ranging beacon fusion control
`EKF2_RNGBC_DELAY`	`px4.parameter.ekf2_rngbc_delay.set`	Standard	Float	0.0	0.0..1000.0	ms	-	yes	no	Ranging beacon measurement delay relative to IMU measurements
`EKF2_RNGBC_GATE`	`px4.parameter.ekf2_rngbc_gate.set`	Standard	Float	5.0	>= 1.0	SD	-	no	no	Gate size for ranging beacon fusion
`EKF2_RNGBC_NOISE`	`px4.parameter.ekf2_rngbc_noise.set`	Standard	Float	30.0	0.1..500.0	m	-	no	no	Measurement noise for ranging beacon fusion
`EKF2_RNG_A_HMAX`	`px4.parameter.ekf2_rng_a_hmax.set`	Standard	Float	5.0	1.0..10.0	m	-	no	no	Maximum height above ground allowed for conditional range aid mode
`EKF2_RNG_A_VMAX`	`px4.parameter.ekf2_rng_a_vmax.set`	Standard	Float	1.0	0.1..2.0	m/s	-	no	no	Maximum horizontal velocity allowed for conditional range aid mode
`EKF2_RNG_CTRL`	`px4.parameter.ekf2_rng_ctrl.set`	Standard	Int32	1	-	-	enum 3	no	no	Range sensor height aiding
`EKF2_RNG_DELAY`	`px4.parameter.ekf2_rng_delay.set`	Standard	Float	5.0	0.0..300.0	ms	-	yes	no	Range finder measurement delay relative to IMU measurements
`EKF2_RNG_FOG`	`px4.parameter.ekf2_rng_fog.set`	Standard	Float	3.0	0.0..20.0	m	-	no	no	Maximum distance at which the range finder could detect fog (m)
`EKF2_RNG_GATE`	`px4.parameter.ekf2_rng_gate.set`	Standard	Float	5.0	>= 1.0	SD	-	no	no	Gate size for range finder fusion
`EKF2_RNG_K_GATE`	`px4.parameter.ekf2_rng_k_gate.set`	Standard	Float	1.0	0.1..5.0	SD	-	no	no	Gate size used for range finder kinematic consistency check
`EKF2_RNG_NOISE`	`px4.parameter.ekf2_rng_noise.set`	Standard	Float	0.1	>= 0.01	m	-	no	no	Measurement noise for range finder fusion
`EKF2_RNG_PITCH`	`px4.parameter.ekf2_rng_pitch.set`	Standard	Float	0.0	-0.75..0.75	rad	-	no	no	Range sensor pitch offset
`EKF2_RNG_POS_X`	`px4.parameter.ekf2_rng_pos_x.set`	Standard	Float	0.0	-	m	-	no	no	X position of range finder origin in body frame
`EKF2_RNG_POS_Y`	`px4.parameter.ekf2_rng_pos_y.set`	Standard	Float	0.0	-	m	-	no	no	Y position of range finder origin in body frame
`EKF2_RNG_POS_Z`	`px4.parameter.ekf2_rng_pos_z.set`	Standard	Float	0.0	-	m	-	no	no	Z position of range finder origin in body frame
`EKF2_RNG_QLTY_T`	`px4.parameter.ekf2_rng_qlty_t.set`	Standard	Float	1.0	0.1..5.0	s	-	no	no	Minumum range validity period
`EKF2_RNG_SFE`	`px4.parameter.ekf2_rng_sfe.set`	Standard	Float	0.05	0.0..0.2	m/m	-	no	no	Range finder range dependent noise scaler
`EKF2_SEL_ERR_RED`	`px4.parameter.ekf2_sel_err_red.set`	Standard	Float	0.2	-	-	-	no	no	Selector error reduce threshold
`EKF2_SEL_IMU_ACC`	`px4.parameter.ekf2_sel_imu_acc.set`	Standard	Float	1.0	-	m/s^2	-	no	no	Selector acceleration threshold
`EKF2_SEL_IMU_ANG`	`px4.parameter.ekf2_sel_imu_ang.set`	Standard	Float	15.0	-	deg	-	no	no	Selector angular threshold
`EKF2_SEL_IMU_RAT`	`px4.parameter.ekf2_sel_imu_rat.set`	Standard	Float	7.0	-	deg/s	-	no	no	Selector angular rate threshold
`EKF2_SEL_IMU_VEL`	`px4.parameter.ekf2_sel_imu_vel.set`	Standard	Float	2.0	-	m/s	-	no	no	Selector angular threshold
`EKF2_SENS_EN`	`px4.parameter.ekf2_sens_en.set`	Standard	Int32	8191	0..8191	-	bitmask 13	no	no	Sensor fusion enable bitmask
`EKF2_SYNT_MAG_Z`	`px4.parameter.ekf2_synt_mag_z.set`	Standard	Int32	0	-	-	enum 2	no	no	Enable synthetic magnetometer Z component measurement
`EKF2_TAS_GATE`	`px4.parameter.ekf2_tas_gate.set`	Standard	Float	5.0	>= 1.0	SD	-	no	no	Gate size for TAS fusion
`EKF2_TAU_POS`	`px4.parameter.ekf2_tau_pos.set`	Standard	Float	0.25	0.1..1.0	s	-	no	no	Output predictor position time constant
`EKF2_TAU_VEL`	`px4.parameter.ekf2_tau_vel.set`	Standard	Float	0.25	<= 1.0	s	-	no	no	Time constant of the velocity output prediction and smoothing filter
`EKF2_TERR_GRAD`	`px4.parameter.ekf2_terr_grad.set`	Standard	Float	0.5	>= 0.0	m/m	-	no	no	Magnitude of terrain gradient
`EKF2_TERR_NOISE`	`px4.parameter.ekf2_terr_noise.set`	Standard	Float	5.0	>= 0.5	m/s	-	no	no	Terrain altitude process noise
`EKF2_VEL_LIM`	`px4.parameter.ekf2_vel_lim.set`	Standard	Float	100.0	<= 299792458.0	m/s	-	no	no	Velocity limit
`EKF2_WIND_NSD`	`px4.parameter.ekf2_wind_nsd.set`	Standard	Float	0.05	0.0..1.0	m/s^2/sqrt(Hz)	-	no	no	Process noise spectral density for wind velocity prediction

​PX4 parameter group: EKF2

​Parameters

PX4 parameter group: EKF2

Parameters