From 7b3befded5842731f7c830874f78eed0c37d82a8 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 7 Feb 2023 13:29:45 -0500
Subject: [PATCH] ekf2: disable new gravity fusion by default

---
 src/modules/ekf2/ekf2_params.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index c383059ba8..82fd1305fb 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -62,7 +62,7 @@ PARAM_DEFINE_INT32(EKF2_PREDICT_US, 10000);
  * @bit 1 Accel Bias
  * @bit 2 Gravity vector fusion
  */
-PARAM_DEFINE_INT32(EKF2_IMU_CTRL, 7);
+PARAM_DEFINE_INT32(EKF2_IMU_CTRL, 3);
 
 /**
  * Magnetometer measurement delay relative to IMU measurements