From 11585dfb6756fc6a27058a19d0604c6baf7b8aab Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 28 May 2020 09:01:57 -0400
Subject: [PATCH] ekf2: decrease default GPS horizontal velocity noise

---
 src/modules/ekf2/ekf2_params.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index 55a0d481bd..78b9681c1f 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -337,7 +337,7 @@ PARAM_DEFINE_FLOAT(EKF2_WIND_NOISE, 1.0e-1f);
  * @unit m/s
  * @decimal 2
  */
-PARAM_DEFINE_FLOAT(EKF2_GPS_V_NOISE, 0.5f);
+PARAM_DEFINE_FLOAT(EKF2_GPS_V_NOISE, 0.3f);
 
 /**
  * Measurement noise for gps position.