diff --git a/EKF/common.h b/EKF/common.h
index 1be9f5f9b3..1e874fe792 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -171,7 +171,8 @@ struct parameters {
 	float gyro_bias_p_noise;	// process noise for IMU delta angle bias prediction (rad/sec)
 	float accel_bias_p_noise;	// process noise for IMU delta velocity bias prediction (m/sec/sec)
 	float gyro_scale_p_noise;	// process noise for gyro scale factor prediction (N/A)
-	float mag_p_noise;		// process noise for magnetic field prediction (Guass/sec)
+	float mage_p_noise;		// process noise for earth magnetic field prediction (Guass/sec)
+	float magb_p_noise;		// process noise for body magnetic field prediction (Guass/sec)
 	float wind_vel_p_noise;		// process noise for wind velocity prediction (m/sec/sec)
 	float terrain_p_noise;		// process noise for terrain offset (m/sec)
 	float terrain_gradient;		// gradient of terrain used to estimate process noise due to changing position (m/m)
@@ -238,33 +239,34 @@ struct parameters {
 		range_delay_ms = 200.0f;
 
 		// input noise
-		gyro_noise = 1.0e-3f;
+		gyro_noise = 6.0e-2f;
 		accel_noise = 2.5e-1f;
 
 		// process noise
-		gyro_bias_p_noise = 7.0e-5f;
-		accel_bias_p_noise = 1.0e-4f;
-		gyro_scale_p_noise = 3.0e-3f;
-		mag_p_noise = 2.5e-2f;
+		gyro_bias_p_noise = 2.5e-6f;
+		accel_bias_p_noise = 3.0e-5f;
+		gyro_scale_p_noise = 3.0e-4f;
+		mage_p_noise = 2.5e-3f;
+		magb_p_noise = 5.0e-4f;
 		wind_vel_p_noise = 1.0e-1f;
 		terrain_p_noise = 5.0f;
 		terrain_gradient = 0.5f;
 
 		// position and velocity fusion
 		gps_vel_noise = 5.0e-1f;
-		gps_pos_noise = 1.0f;
+		gps_pos_noise = 0.5f;
 		pos_noaid_noise = 10.0f;
-		baro_noise = 3.0f;
-		baro_innov_gate = 3.0f;
-		posNE_innov_gate = 3.0f;
-		vel_innov_gate = 3.0f;
+		baro_noise = 2.0f;
+		baro_innov_gate = 5.0f;
+		posNE_innov_gate = 5.0f;
+		vel_innov_gate = 5.0f;
 		hgt_reset_lim = 5.0f;
 
 		// magnetometer fusion
-		mag_heading_noise = 1.7e-1f;
+		mag_heading_noise = 3.0e-1f;
 		mag_noise = 5.0e-2f;
 		mag_declination_deg = 0.0f;
-		heading_innov_gate = 3.0f;
+		heading_innov_gate = 2.6f;
 		mag_innov_gate = 3.0f;
 		mag_declination_source = 3;
 		mag_fusion_type = 0;
diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index 527de849f3..8869f7d213 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -153,17 +153,17 @@ void Ekf::predictCovariance()
 	float d_ang_scale_sig = dt * math::constrain(_params.gyro_scale_p_noise, 0.0f, 1e-2f);
 	float mag_I_sig, mag_B_sig;
 
-	// Don't continue to grow the body field variances if they are becoming too large or we are not doing 3-axis fusion as this can make the covariance matrix badly conditioned
+	// Don't continue to grow the earth field variances if they are becoming too large or we are not doing 3-axis fusion as this can make the covariance matrix badly conditioned
 	if (_control_status.flags.mag_3D && (P[16][16] + P[17][17] + P[18][8]) < 0.1f) {
-		mag_I_sig = dt * math::constrain(_params.mag_p_noise, 0.0f, 1e-1f);
+		mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.0f, 1e-1f);
 
 	} else {
 		mag_I_sig = 0.0f;
 	}
 
-	// Don't continue to grow the earth field variances if they is becoming too large or we are not doing 3-axis fusion as this can make the covariance matrix badly conditioned
+	// Don't continue to grow the body field variances if they is becoming too large or we are not doing 3-axis fusion as this can make the covariance matrix badly conditioned
 	if (_control_status.flags.mag_3D && (P[19][19] + P[20][20] + P[21][21]) < 0.1f) {
-		mag_B_sig = dt * math::constrain(_params.mag_p_noise, 0.0f, 1e-1f);
+		mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.0f, 1e-1f);
 
 	} else {
 		mag_B_sig = 0.0f;
@@ -210,7 +210,7 @@ void Ekf::predictCovariance()
 	// inputs to the system are 3 delta angles and 3 delta velocities
 	float daxNoise, dayNoise, dazNoise;
 	float dvxNoise, dvyNoise, dvzNoise;
-	float gyro_noise = math::constrain(_params.gyro_noise, 1e-4f, 1e-2f);
+	float gyro_noise = math::constrain(_params.gyro_noise, 1e-4f, 1e-1f);
 	daxNoise = dayNoise = dazNoise = dt * gyro_noise;
 	float accel_noise = math::constrain(_params.accel_noise, 1e-2f, 1.0f);
 	dvxNoise = dvyNoise = dvzNoise = dt * accel_noise;