From 45b1a2fa4693bc668210930cf128540515c2bbac Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Tue, 25 Mar 2014 04:52:49 +1100
Subject: [PATCH] AP_NavEKF : Reduce GPS position innovation consistency fail
 threshold

This patch reduces the maximum acceptable GPS jump from approximately 16 to 8 metres
This will provide copters with more protection for close in loiter situations
---
 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 2c5ff8eb2d..40e3841803 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -193,7 +193,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
     // @Range: 1 - 100
     // @Increment: 1
     // @User: advanced
-    AP_GROUPINFO("POS_GATE",    18, NavEKF, _gpsPosInnovGate, 10),
+    AP_GROUPINFO("POS_GATE",    18, NavEKF, _gpsPosInnovGate, 5),
 
     // @Param: HGT_GATE
     // @DisplayName: Height measurement gate size