"Alireza, in the logs you will find NKF fields. This logs both estimated biases and EKF innovations. The algorithm for EKF3 is well documented, and you can use it to reconstruct EKF filter estimates using Matlab etc"
"Joe is right. The aft rotor is tilted starboard to compensate for the yaw. All rotors seem to rotate CCW (its simpler) and the aft rotor has about 30 degress of tilt to produce the opposite yaw. In forward flight, the aft rotor shuts down and the…"