From 7a74d5859149ee7bffd54868e9fba04bc1d2a0a7 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Wed, 4 May 2016 14:47:01 +1000
Subject: [PATCH] EKF: reduce initial accel bias uncertainty

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

diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index 25d7a7764b..0b1c9a2a5c 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -85,7 +85,7 @@ void Ekf::initialiseCovariance()
 	P[12][12] = P[10][10];
 
 	// accel bias
-	P[13][13] = sq(0.2f * dt);
+	P[13][13] = sq(0.1f * dt);
 	P[14][14] = P[13][13];
 	P[15][15] = P[13][13];