EKF: Combine GPS velocity innovation gate parameters

Separate vertical and horizontal parameters for GPS velocity innovation gates are not required

EKF/estimator_base.h

@@ -134,10 +134,9 @@ namespace estimator {
 		float gps_vel_noise = 0.05f;
 		float gps_pos_noise = 1.0f;
 		float baro_noise = 0.1f;
-	    float baro_innov_gate = 5.0f;       // barometer fusion innovation consistency gate size in standard deviations
+        float baro_innov_gate = 5.0f;       // barometric height innovation consistency gate size in standard deviations
-	    float velD_innov_gate = 5.0f;       // Vertical velocity fusion innovation consistency gate size in standard deviations
+        float posNE_innov_gate = 5.0f;      // GPS horizontal position innovation consistency gate size in standard deviations
-	    float posNE_innov_gate = 5.0f;      // Horizontal position innovation consistency gate size in standard deviations
+        float vel_innov_gate = 3.0f;        // GPS velocity innovation consistency gate size in standard deviations
-	    float velNE_innov_gate = 5.0f;      // Horizontal velocity fusion innovation consistency gate size in standard deviations
 
 		float mag_heading_noise = 3e-2f;	// measurement noise used for simple heading fusion
 		float mag_declination_deg = 0.0f;	// magnetic declination in degrees

EKF/vel_pos_fusion.cpp

@@ -56,7 +56,7 @@ void Ekf::fuseVelPosHeight()
 		_vel_pos_innov[1] = _state.vel(1) - _gps_sample_delayed.vel(1);
 		R[0] = _params.gps_vel_noise;
 		R[1] = _params.gps_vel_noise;
-        gate_size[0] = fmaxf(_params.velNE_innov_gate, 1.0f);
+        gate_size[0] = fmaxf(_params.vel_innov_gate, 1.0f);
         gate_size[1] = gate_size[0];
     }
 
@@ -64,7 +64,7 @@ void Ekf::fuseVelPosHeight()
 		fuse_map[2] = true;
 		_vel_pos_innov[2] = _state.vel(2) - _gps_sample_delayed.vel(2);
 		R[2] = _params.gps_vel_noise;
-        gate_size[2] = fmaxf(_params.velD_innov_gate, 1.0f);
+        gate_size[2] = fmaxf(_params.vel_innov_gate, 1.0f);
     }
 
 	if (_fuse_pos) {