From db043744a47a339c51e05772a565bd2b7b114559 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Mon, 7 Apr 2014 21:01:08 +1000
Subject: [PATCH] AP_NavEKF : Reduce Z accel bias process noise to provide a
 more stable estimate

---
 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 b2ec385a6..18b0b6cd3 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -35,7 +35,7 @@
 #define GYRO_PNOISE_DEFAULT     0.015f
 #define ACC_PNOISE_DEFAULT      0.25f
 #define GBIAS_PNOISE_DEFAULT    1E-07f
-#define ABIAS_PNOISE_DEFAULT    0.00015f
+#define ABIAS_PNOISE_DEFAULT    0.0001f
 #define MAGE_PNOISE_DEFAULT     0.0003f
 #define MAGB_PNOISE_DEFAULT     0.0003f
 #define VEL_GATE_DEFAULT        2
@@ -56,7 +56,7 @@
 #define GYRO_PNOISE_DEFAULT     0.015f
 #define ACC_PNOISE_DEFAULT      0.25f
 #define GBIAS_PNOISE_DEFAULT    1E-07f
-#define ABIAS_PNOISE_DEFAULT    0.00015f
+#define ABIAS_PNOISE_DEFAULT    0.0001f
 #define MAGE_PNOISE_DEFAULT     0.0003f
 #define MAGB_PNOISE_DEFAULT     0.0003f
 #define VEL_GATE_DEFAULT        2
@@ -77,7 +77,7 @@
 #define GYRO_PNOISE_DEFAULT     0.015f
 #define ACC_PNOISE_DEFAULT      0.25f
 #define GBIAS_PNOISE_DEFAULT    1E-07f
-#define ABIAS_PNOISE_DEFAULT    0.00015f
+#define ABIAS_PNOISE_DEFAULT    0.0001f
 #define MAGE_PNOISE_DEFAULT     0.0003f
 #define MAGB_PNOISE_DEFAULT     0.0003f
 #define VEL_GATE_DEFAULT        3
-- 
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