From 9a35756cd1b39a56ea94a33c98e73cb4a4415b85 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Tue, 30 Mar 2021 10:23:18 -0400
Subject: [PATCH] ekf2: enable range aid by default

 - this is to help more users get the benefit (by default) and perhaps circumvent the common mistake of setting EKF2_HGT_MODE to range sensor
 - this should be safe to enable as the range aid defaults are fairly conservative (max horizontal velocity 1 m/s, and range aid gate 1 SD)
---
 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 661d02e6d9..6395b4f8be 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -1062,7 +1062,7 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f);
  * @value 0 Range aid disabled
  * @value 1 Range aid enabled
  */
-PARAM_DEFINE_INT32(EKF2_RNG_AID, 0);
+PARAM_DEFINE_INT32(EKF2_RNG_AID, 1);
 
 /**
  * Maximum horizontal velocity allowed for range aid mode.