EKF

• EK3_ENABLE: 1
  This enables EKF3. Enabling EKF3 only makes the maths run, it does not mean it will be used for flight control. To use it for flight control set AHRS_EKF_TYPE=3. A reboot or restart will need to be performed after changing the value of EK3_ENABLE for it to take effect.
• AHRS_EKF_TYPE: 3
  This controls which NavEKF Kalman filter version is used for attitude and position estimation