AHRS_EKF_TYPE 3
EK2_ENABLE 0
EK3_ENABLE 1
EK3_SRC1_POSXY 6
EK3_SRC1_VELXY 6
EK3_SRC1_POSZ 6
EK3_SRC1_VELZ 6
EK3_SRC1_YAW 6
VISO_TYPE 2
SERIAL5_PROTOCOL 2