From 799865c934d6115dc811418c2b012c6c1f0f0844 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 2 May 2016 23:49:51 +1000
Subject: [PATCH] EKF: update default tuning parameters

---
 EKF/common.h | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/EKF/common.h b/EKF/common.h
index 34d6795711..fed9c1f781 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -246,13 +246,13 @@ struct parameters {
 		range_delay_ms = 5.0f;
 
 		// input noise
-		gyro_noise = 5.0e-2f;
+		gyro_noise = 2.0e-2f;
 		accel_noise = 2.5e-1f;
 
 		// process noise
-		gyro_bias_p_noise = 5.0e-5f;
+		gyro_bias_p_noise = 5.0e-6f;
 		accel_bias_p_noise = 1.0e-7f;
-		mage_p_noise = 2.5e-3f;
+		mage_p_noise = 1.0e-3f;
 		magb_p_noise = 1.0e-4f;
 		wind_vel_p_noise = 1.0e-1f;
 		terrain_p_noise = 5.0f;
@@ -274,7 +274,7 @@ struct parameters {
 		mag_declination_deg = 0.0f;
 		heading_innov_gate = 2.6f;
 		mag_innov_gate = 3.0f;
-		mag_declination_source = 3;
+		mag_declination_source = 7;
 		mag_fusion_type = 0;
 
 		// airspeed fusion