diff --git a/src/modules/ekf2/Utility/PreFlightChecker.hpp b/src/modules/ekf2/Utility/PreFlightChecker.hpp index 10639bb915..a3b4fae078 100644 --- a/src/modules/ekf2/Utility/PreFlightChecker.hpp +++ b/src/modules/ekf2/Utility/PreFlightChecker.hpp @@ -184,7 +184,7 @@ private: // Maximum permissible yaw innovation to pass pre-flight checks when not aiding inertial nav using NE frame observations (rad) static constexpr float _heading_innov_test_lim = 0.52f; // Maximum permissible flow innovation to pass pre-flight checks - static constexpr float _flow_innov_test_lim = 0.25f; + static constexpr float _flow_innov_test_lim = 0.5f; // Preflight velocity innovation spike limit (m/sec) static constexpr float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim; // Preflight position innovation spike limit (m)