In the Configuration tab of the Serial Interface, click “Show advanced settings.” The EKF parameters are under “Sensor Variance Settings” and “Filter Q Settings.”
Under what conditions are you seeing the error flags asserted? The failure indicators are asserted when the UM7 is unable to read data from the onboard sensors. That shouldn’t happen under normal conditions, and if it is repetitive, it could indicate that the hardware is damaged.
It sounds like the filter is crashing during motion. This tends to happen around +/- 90 degrees. You can prevent the filter from crashing by putting it in quaternion mode.
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