From 26a51c667de5fe0ad63341b1ed319bad508c2c5a Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 2 May 2016 20:44:17 +1000
Subject: [PATCH] EKF: Improve robustness to initial gyro bias errors

Allows for ~6 deg/sec of startup bias
---
 EKF/covariance.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index 70634e3975..9f25948934 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -72,7 +72,7 @@ void Ekf::initialiseCovariance()
 	P[9][9] = sq(fmaxf(_params.baro_noise, 0.01f));
 
 	// gyro bias
-	P[10][10] = sq(0.035f * dt);
+	P[10][10] = sq(0.1f * dt);
 	P[11][11] = P[10][10];
 	P[12][12] = P[10][10];