From ac329ec31cdd6e46d645713e5bf8279d8ff9cb73 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Tue, 24 May 2016 11:08:33 +1000
Subject: [PATCH] AP_NavEKF2: use observation noise to set initial magnetic
 field variances

---
 libraries/AP_NavEKF2/AP_NavEKF2_core.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
index e458588288..e10777dfc8 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
@@ -1350,11 +1350,11 @@ Quaternion NavEKF2_core::calcQuatAndFieldStates(float roll, float pitch)
         zeroRows(P,16,21);
         zeroCols(P,16,21);
         // set initial earth magnetic field variances
-        P[16][16] = sq(0.05f);
+        P[16][16] = sq(frontend->_magNoise);
         P[17][17] = P[16][16];
         P[18][18] = P[16][16];
         // set initial body magnetic field variances
-        P[19][19] = sq(0.05f);
+        P[19][19] = sq(frontend->_magNoise);
         P[20][20] = P[19][19];
         P[21][21] = P[19][19];