From d6e7f84209d78adc2130359661c7007b3f886590 Mon Sep 17 00:00:00 2001
From: "Dr.-Ing. Amilcar do Carmo Lucas" <amilcar.lucas@iav.de>
Date: Sat, 31 Aug 2024 22:59:34 +0200
Subject: [PATCH] IMPROVEMENT: Add step 21

---
 TUNING_GUIDE_ArduCopter.md | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/TUNING_GUIDE_ArduCopter.md b/TUNING_GUIDE_ArduCopter.md
index 6aad9f90..ec64bc12 100644
--- a/TUNING_GUIDE_ArduCopter.md
+++ b/TUNING_GUIDE_ArduCopter.md
@@ -653,7 +653,12 @@ Now upload the `.bin` log to the [Hardware-Report Tool](https://firmware.ardupil
 
 Use the `.bin` log from the first flight to set the parameters described on the `20_throttle_controller.param` file.
 
-## 8.3 Second Flight: PID VTOL-Quiktune lua script or manual PID tune
+## 8.3 Configure the EKF altitude source weights
+
+In some situations you will need to configure the expected noise levels of the altitude sources.
+And the weight that EKF should use for each source on the `23_ekf_config.param` file.
+
+## 8.4 Second Flight: PID VTOL-Quiktune lua script or manual PID tune
 
 If your flight controller can run lua scripts perform a [PID lua VTOL-Quicktune](https://ardupilot.org/copter/docs/quiktune.html).
 If you have an STM32 F4 or F7 processor that can not run lua scripts perform a [manual PID tune](https://ardupilot.org/copter/docs/ac_rollpitchtuning.html) instead.