From 1f8b5a6d2322d3832ac8c9c08536961e5f514317 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Mon, 7 Apr 2014 21:05:07 +1000
Subject: [PATCH] AP_NavEKF : Tighten GPS velocity glitch gate default setting
 for plane

---
 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 ae0dac4875..b2ec385a67 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -80,7 +80,7 @@
 #define ABIAS_PNOISE_DEFAULT    0.00015f
 #define MAGE_PNOISE_DEFAULT     0.0003f
 #define MAGB_PNOISE_DEFAULT     0.0003f
-#define VEL_GATE_DEFAULT        5
+#define VEL_GATE_DEFAULT        3
 #define POS_GATE_DEFAULT        5
 #define HGT_GATE_DEFAULT        10
 #define MAG_GATE_DEFAULT        3