From 9e2e888f5e62743809912c3da585551f0165ddbc Mon Sep 17 00:00:00 2001
From: bresch <brescianimathieu@gmail.com>
Date: Thu, 6 Jul 2023 15:04:47 +0200
Subject: [PATCH] ekf2-bias_cal: reduce required stability period

For the mag, 30s of bias learning is a lot, given that it is only active
during turns and that it usually converges in < 5 seconds
---
 src/modules/ekf2/EKF2.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF2.cpp b/src/modules/ekf2/EKF2.cpp
index 0935a31608..9ce6f31e75 100644
--- a/src/modules/ekf2/EKF2.cpp
+++ b/src/modules/ekf2/EKF2.cpp
@@ -2461,7 +2461,7 @@ void EKF2::UpdateCalibration(const hrt_abstime &timestamp, InFlightCalibration &
 				cal.total_time_us += timestamp - cal.last_us;
 			}
 
-			if (cal.total_time_us > 30_s) {
+			if (cal.total_time_us > 10_s) {
 				cal.cal_available = true;
 			}