what configurations should i consider in ekf_localization_node when using IMU and an ultrasonic sensor??

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Good day everyone, now I'm working on a quadcopter project and I'm using IMU(gy-801) and also an ultrasonic sensor for getting the z-axis ,I have used the accelerometer and the gyroscope data to make the imu_msg and i've visualized this msg using rviz and it works very well then i have put the ultrasonic data and the heading angle in an odometry_msg,then i used this two messages in ekf_localization_node to get the pose and twist but the /odometry_filterd message that is published from that node doesn't give real data and the pose always increases fast although the quadcopter doesn't move. so am i working wrong or is there any configurations that i should consider?? thank you in advance