From d150904dc6a549ee982ea16f20a17d89a56588de Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Fri, 16 May 2014 20:59:48 +1000
Subject: [PATCH] AP_NavEKF: Increase gyro bias process noise

This is required to stop the bias estimate from becoming too static
towards the end of longer flights.
---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 42223dd4d..00d87bba1 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -34,7 +34,7 @@
 #define MAG_NOISE_DEFAULT       0.05f
 #define GYRO_PNOISE_DEFAULT     0.015f
 #define ACC_PNOISE_DEFAULT      0.25f
-#define GBIAS_PNOISE_DEFAULT    1E-07f
+#define GBIAS_PNOISE_DEFAULT    1E-06f
 #define ABIAS_PNOISE_DEFAULT    0.0001f
 #define MAGE_PNOISE_DEFAULT     0.0003f
 #define MAGB_PNOISE_DEFAULT     0.0003f
@@ -55,7 +55,7 @@
 #define MAG_NOISE_DEFAULT       0.05f
 #define GYRO_PNOISE_DEFAULT     0.015f
 #define ACC_PNOISE_DEFAULT      0.25f
-#define GBIAS_PNOISE_DEFAULT    1E-07f
+#define GBIAS_PNOISE_DEFAULT    1E-06f
 #define ABIAS_PNOISE_DEFAULT    0.0001f
 #define MAGE_PNOISE_DEFAULT     0.0003f
 #define MAGB_PNOISE_DEFAULT     0.0003f
@@ -76,7 +76,7 @@
 #define MAG_NOISE_DEFAULT       0.05f
 #define GYRO_PNOISE_DEFAULT     0.015f
 #define ACC_PNOISE_DEFAULT      0.25f
-#define GBIAS_PNOISE_DEFAULT    1E-07f
+#define GBIAS_PNOISE_DEFAULT    1E-06f
 #define ABIAS_PNOISE_DEFAULT    0.0001f
 #define MAGE_PNOISE_DEFAULT     0.0003f
 #define MAGB_PNOISE_DEFAULT     0.0003f
-- 
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