From 8a713398cbe99b2fa14c0d7720407d18ed3e1dbb Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 19 May 2018 07:59:08 +1000
Subject: [PATCH] EKF: Improve ground effect compensation

Start deadline at zero so that initial rotor wash effect is rejected.
---
 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 e87f1899d6..de0384de8a 100644
--- a/EKF/vel_pos_fusion.cpp
+++ b/EKF/vel_pos_fusion.cpp
@@ -107,7 +107,7 @@ void Ekf::fuseVelPosHeight()
 
 			// Compensate for positive static pressure transients (negative vertical position innovations)
 			// casued by rotor wash ground interaction by applying a temporary deadzone to baro innovations.
-			float deadzone_start = 0.25f * _params.baro_noise;
+			float deadzone_start = 0.0f;
 			float deadzone_end = deadzone_start + _params.gnd_effect_deadzone;
 
 			if (_control_status.flags.gnd_effect) {