From 6f412a73b486fd7ab7f49953aa3a68770e179e35 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Fri, 27 May 2016 11:24:53 +1000
Subject: [PATCH] EKF:  Use correct height gate when using external vision

---
 EKF/vel_pos_fusion.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/vel_pos_fusion.cpp b/EKF/vel_pos_fusion.cpp
index 69f0d5534a..27ceb1dbe4 100644
--- a/EKF/vel_pos_fusion.cpp
+++ b/EKF/vel_pos_fusion.cpp
@@ -159,7 +159,7 @@ void Ekf::fuseVelPosHeight()
 			R[5] = fmaxf(_ev_sample_delayed.posErr, 0.01f);
 			R[5] = R[5] * R[5];
 			// innovation gate size
-			gate_size[5] = fmaxf(_params.baro_innov_gate, 1.0f);
+			gate_size[5] = fmaxf(_params.ev_innov_gate, 1.0f);
 		}
 
 	}