From 3b61528f0f7e7a86ce145a87cd0df7afa5209f96 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Wed, 4 Jan 2017 10:40:15 +0100
Subject: [PATCH] EKF3: initialise default value for EV fusion gate

---
 EKF/common.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/EKF/common.h b/EKF/common.h
index 05407852c1..78e2b1e0c6 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -338,6 +338,9 @@ struct parameters {
 		range_innov_gate = 5.0f;
 		rng_gnd_clearance = 0.1f;
 
+		// vision position fusion
+		ev_innov_gate = 5.0f;
+
 		// optical flow fusion
 		flow_noise = 0.15f;
 		flow_noise_qual_min = 0.5f;