From b5ba4f280fbe595e2abcfaece211552ca78df692 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Mon, 15 Aug 2016 10:43:47 +1000
Subject: [PATCH] EKF: reduce output predictor velocity time constant

---
 EKF/common.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/common.h b/EKF/common.h
index 85345457b4..4845cda8c4 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -348,7 +348,7 @@ struct parameters {
 		ev_pos_body = {};
 
 		// output complementary filter tuning time constants
-		vel_Tau = 0.5f;
+		vel_Tau = 0.25f;
 		pos_Tau = 0.25f;
 
 	}