From d292ba028a42a73004f80d8c73bd9874cbea9914 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 19 Aug 2020 17:01:36 +0900
Subject: [PATCH] AP_NavEKF3: increase beacon buffer to imu + 1

---
 libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 68c968fd16..3686ef2a22 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -151,7 +151,7 @@ bool NavEKF3_core::setup_core(uint8_t _imu_index, uint8_t _core_index)
         return false;
     }
     // Note: range beacon data is read one beacon at a time and can arrive at a high rate
-    if(!storedRangeBeacon.init(imu_buffer_length)) {
+    if(!storedRangeBeacon.init(imu_buffer_length+1)) {
         return false;
     }
     if (!storedExtNav.init(extnav_buffer_length)) {