From 57d4064d7b36a09bff44d5fc529ee85457e97254 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 1 Mar 2016 15:28:53 +1100
Subject: [PATCH] EKF: Increase default heading observation noise

Improves robustness when operating in a bad magnetic field environment
---
 EKF/common.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/common.h b/EKF/common.h
index c96bb67482..c0c0597d5c 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -183,7 +183,7 @@ struct parameters {
 		posNE_innov_gate = 3.0f;
 		vel_innov_gate = 3.0f;
 
-		mag_heading_noise = 1.7e-1f;
+		mag_heading_noise = 5.0e-1f;
 		mag_noise = 5.0e-2f;
 		mag_declination_deg = 0.0f;
 		heading_innov_gate = 3.0f;