From d9aeace6acf15d21b32e25b522fb1aad1f89e4a7 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Thu, 5 May 2016 19:54:11 +1000
Subject: [PATCH] EKF: tuning update

---
 EKF/common.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/EKF/common.h b/EKF/common.h
index 017d5c5c7c..d396d29d9f 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -246,12 +246,12 @@ struct parameters {
 		range_delay_ms = 5.0f;
 
 		// input noise
-		gyro_noise = 2.5e-2f;
+		gyro_noise = 1.5e-2f;
 		accel_noise = 3.5e-1f;
 
 		// process noise
 		gyro_bias_p_noise = 1.0e-3f;
-		accel_bias_p_noise = 1.0e-3f;
+		accel_bias_p_noise = 3.0e-3f;
 		mage_p_noise = 1.0e-3f;
 		magb_p_noise = 1.0e-4f;
 		wind_vel_p_noise = 1.0e-1f;