From 60b50939798fef95edd0113884de1cd32ab7133b Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Tue, 15 Aug 2023 15:16:08 +0100
Subject: [PATCH] AP_NavEKF3: allow high values of EK3_ALT_M_NSE for boards
 without baros

---
 libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
index 73504a6742..721e620041 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@@ -1263,7 +1263,7 @@ void NavEKF3_core::selectHeightForFusion()
         // enable fusion
         fuseHgtData = true;
         // set the observation noise
-        posDownObsNoise = sq(constrain_ftype(frontend->_baroAltNoise, 0.1f, 10.0f));
+        posDownObsNoise = sq(constrain_ftype(frontend->_baroAltNoise, 0.1f, 100.0f));
         // reduce weighting (increase observation noise) on baro if we are likely to be experiencing rotor wash ground interaction
         if (dal.get_takeoff_expected() || dal.get_touchdown_expected()) {
             posDownObsNoise *= frontend->gndEffectBaroScaler;