From 55c60b8f0770a18ef4097b1bab10e554989e7b93 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Tue, 25 Mar 2014 05:12:54 +1100
Subject: [PATCH] AP_NavEKF : Reduce Magnetometer innovation consistency check
 threshold

---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 40e3841803..9fc93add02 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -209,7 +209,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
     // @Range: 1 - 100
     // @Increment: 1
     // @User: advanced
-    AP_GROUPINFO("MAG_GATE",    20, NavEKF, _magInnovGate, 5),
+    AP_GROUPINFO("MAG_GATE",    20, NavEKF, _magInnovGate, 3),
 
     // @Param: EAS_GATE
     // @DisplayName: Airspeed measurement gate size