Better defaults for filter noise params

src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c

@@ -218,7 +218,7 @@ PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f);
  * @max 0.00001
  * @group Position Estimator
  */
-PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
+PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-06f);
 
 /**
  * Accelerometer bias estimate process noise
@@ -230,7 +230,7 @@ PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
  * @max 0.001
  * @group Position Estimator
  */
-PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.00005f);
+PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0002f);
 
 /**
  * Magnetometer earth frame offsets process noise

src/modules/ekf_att_pos_estimator/estimator_22states.cpp

@@ -210,10 +210,10 @@ void AttPosEKF::InitialiseParameters()
 
     yawVarScale = 1.0f;
     windVelSigma = 0.1f;
-    dAngBiasSigma = 5.0e-7;
-    dVelBiasSigma = 1e-4f;
-    magEarthSigma = 3.0e-4f;
-    magBodySigma  = 3.0e-4f;
+    dAngBiasSigma = 1.0e-6;
+    dVelBiasSigma = 0.0002f;
+    magEarthSigma = 0.0003f;
+    magBodySigma  = 0.0003f;
 
     vneSigma = 0.2f;
     vdSigma = 0.3f;