From ecaffe63af244fcd992d719e8b4606bc546d63aa Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Wed, 4 May 2016 14:50:39 +1000
Subject: [PATCH] EKF: update tuning defaults

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

diff --git a/EKF/common.h b/EKF/common.h
index 40f576a83c..64897c45e6 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -234,7 +234,7 @@ struct parameters {
 	parameters()
 	{
 		// measurement source control
-		fusion_mode = MASK_USE_GPS;
+		fusion_mode = MASK_USE_GPS + MASK_USE_3D_ACC_BIAS;
 		vdist_sensor_type = VDIST_SENSOR_BARO;
 
 		// measurement time delays
@@ -251,7 +251,7 @@ struct parameters {
 
 		// process noise
 		gyro_bias_p_noise = 1.0e-3f;
-		accel_bias_p_noise = 1.0e-5f;
+		accel_bias_p_noise = 1.0e-3f;
 		mage_p_noise = 1.0e-3f;
 		magb_p_noise = 1.0e-4f;
 		wind_vel_p_noise = 1.0e-1f;