From 41660c355035192f8c7e562db97a153d6e50482b Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 7 May 2020 01:21:47 -0400
Subject: [PATCH] commander: update EKF accel & gyro bias arming limits

 - these should have been rescaled when the ecl/EKF filter update period changed from 8 ms -> 10 ms
---
 src/modules/commander/commander_params.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c
index b27c6c1a62..44d47d3b25 100644
--- a/src/modules/commander/commander_params.c
+++ b/src/modules/commander/commander_params.c
@@ -569,7 +569,7 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_YAW, 0.5f);
  * @decimal 4
  * @increment 0.0001
  */
-PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 1.73e-3f);
+PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 0.0022f);
 
 /**
  * Maximum value of EKF gyro delta angle bias estimate that will allow arming
@@ -578,10 +578,10 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 1.73e-3f);
  * @unit rad
  * @min 0.0001
  * @max 0.0017
- * @decimal 5
+ * @decimal 4
  * @increment 0.0001
  */
-PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 8.7e-4f);
+PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 0.0011f);
 
 /**
  * Maximum accelerometer inconsistency between IMU units that will allow arming