From 31142c0322dec11b9b831036036e359c229c11ad Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Thu, 19 Apr 2018 08:01:41 +1000
Subject: [PATCH] EKF: tighten wind variance growth check

---
 EKF/covariance.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/covariance.cpp b/EKF/covariance.cpp
index 4f31fed811..14b4e3cb69 100644
--- a/EKF/covariance.cpp
+++ b/EKF/covariance.cpp
@@ -210,7 +210,7 @@ void Ekf::predictCovariance()
 	float wind_vel_sig;
 
 	// Don't continue to grow wind velocity state variances if they are becoming too large or we are not using wind velocity states as this can make the covariance matrix badly conditioned
-	if (_control_status.flags.wind && (P[22][22] + P[23][23]) < 2.0f * sq(_params.initial_wind_uncertainty)) {
+	if (_control_status.flags.wind && (P[22][22] + P[23][23]) < sq(_params.initial_wind_uncertainty)) {
 		wind_vel_sig = dt * math::constrain(_params.wind_vel_p_noise, 0.0f, 1.0f);
 
 	} else {