Merge remote-tracking branch 'upstream/fwlandingterrain' into fwlandingterrain

src/modules/ekf_att_pos_estimator/estimator_23states.h

@@ -85,7 +85,7 @@ public:
         R_LOS = 0.03f; // optical flow measurement noise variance (rad/sec)^2
         flowInnovGate = 3.0f; // number of standard deviations applied to the optical flow innovation consistency check
         auxFlowInnovGate = 10.0f; // number of standard deviations applied to the optical flow innovation consistency check used by the auxiliary filter
-        rngInnovGate = 5.0f; // number of standard deviations applied to the rnage finder innovation consistency check
+        rngInnovGate = 10.0f; // number of standard deviations applied to the rnage finder innovation consistency check
         minFlowRng = 0.01f; //minimum range between ground and flow sensor
         moCompR_LOS = 0.2; // scaler from sensor gyro rate to uncertainty in LOS rate
     }