From 78b30e4ce5e426e3149aa95ca057fcdb15ae4ded Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Fri, 19 Dec 2014 18:23:05 +1100
Subject: [PATCH] AP_NavEKF: Increase rate at which GPS glitch offsets are
 reduced for planes

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

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 313e92d95f..cf2bfc14a4 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -4424,13 +4424,13 @@ bool NavEKF::use_compass(void) const
     return _ahrs->get_compass() && _ahrs->get_compass()->use_for_yaw();
 }
 
-// decay GPS horizontal position offset to close to zero at a rate of 1 m/s for copters and 3 m/s for planes
+// decay GPS horizontal position offset to close to zero at a rate of 1 m/s for copters and 5 m/s for planes
 // limit radius to a maximum of 100m
 void NavEKF::decayGpsOffset()
 {
     float offsetDecaySpd;
     if (assume_zero_sideslip()) {
-        offsetDecaySpd = 3.0f;
+        offsetDecaySpd = 5.0f;
     } else {
         offsetDecaySpd = 1.0f;
     }