From 67d23948b5f9a0d7ab8b9ce17c6423866f743d64 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Fri, 29 Apr 2016 12:03:58 +1000
Subject: [PATCH] EKF: preliminary re-tune

---
 EKF/common.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/EKF/common.h b/EKF/common.h
index 1f112b462b..93189ce852 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -244,14 +244,14 @@ struct parameters {
 		range_delay_ms = 5.0f;
 
 		// input noise
-		gyro_noise = 6.0e-2f;
+		gyro_noise = 5.0e-2f;
 		accel_noise = 2.5e-1f;
 
 		// process noise
-		gyro_bias_p_noise = 2.5e-6f;
-		accel_bias_p_noise = 3.0e-5f;
+		gyro_bias_p_noise = 5.0e-5f;
+		accel_bias_p_noise = 1.0e-7f;
 		mage_p_noise = 2.5e-3f;
-		magb_p_noise = 5.0e-4f;
+		magb_p_noise = 1.0e-4f;
 		wind_vel_p_noise = 1.0e-1f;
 		terrain_p_noise = 5.0f;
 		terrain_gradient = 0.5f;