From 7a9608e54b69568b530d237f3f6f3313cd404167 Mon Sep 17 00:00:00 2001
From: Marco Hauswirth <58551738+haumarco@users.noreply.github.com>
Date: Mon, 20 Jan 2025 20:43:30 +0100
Subject: [PATCH] increase EKF2_RNG_FOG for FW and VTOL

---
 ROMFS/px4fmu_common/init.d/rc.mc_defaults | 3 +++
 src/modules/ekf2/params_range_finder.yaml | 2 +-
 2 files changed, 4 insertions(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
index 7b2b9b095d..db11cedbb3 100644
--- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults
@@ -21,3 +21,6 @@ param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
 
 param set-default GPS_UBX_DYNMODEL 6
+
+# lower RNG_FOG since MC are expected to fly closer over obstacles
+param set-default EKF2_RNG_FOG 1.0
diff --git a/src/modules/ekf2/params_range_finder.yaml b/src/modules/ekf2/params_range_finder.yaml
index 78c30bbcca..97f60bdff4 100644
--- a/src/modules/ekf2/params_range_finder.yaml
+++ b/src/modules/ekf2/params_range_finder.yaml
@@ -158,7 +158,7 @@ parameters:
           If there's a jump from larger than RNG_FOG to smaller than EKF2_RNG_FOG, the
           measurement may gets rejected. 0 - disabled
       type: float
-      default: 1.0
+      default: 3.0
       min: 0.0
       max: 20.0
       unit: m