From 1daa6c7866377370bc9b8ec9bce91da98bb17044 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Thu, 5 May 2016 10:53:12 +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 3abc46697b..017d5c5c7c 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -246,8 +246,8 @@ struct parameters {
 		range_delay_ms = 5.0f;
 
 		// input noise
-		gyro_noise = 2.0e-2f;
-		accel_noise = 2.5e-1f;
+		gyro_noise = 2.5e-2f;
+		accel_noise = 3.5e-1f;
 
 		// process noise
 		gyro_bias_p_noise = 1.0e-3f;