From 6c7703d485927ef1a302c7e11359ba1295cb7dfc Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 5 Nov 2016 10:41:07 +1100
Subject: [PATCH] EKF: Update tuning for synthetic sideslip fusion

Used value that worked well for replay of flight logs
---
 EKF/common.h | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/EKF/common.h b/EKF/common.h
index 37aa9f843b..553778ebe2 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -326,9 +326,9 @@ struct parameters {
 		tas_innov_gate = 5.0f;		
   		eas_noise = 1.4f;	
 
-  		// sysntetic sideslip fusion
+		// synthetic sideslip fusion
  		beta_innov_gate = 5.0f;
- 		beta_noise = 0.5f;
+		beta_noise = 0.3f;
  		beta_avg_ft_us = 1000000.0f; //1 Hz		
 
 		// range finder fusion