diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 520d056efd..16957d3806 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -87,12 +87,12 @@
 #define MAGE_PNOISE_DEFAULT     0.0003f
 #define MAGB_PNOISE_DEFAULT     0.0003f
 #define VEL_GATE_DEFAULT        6
-#define POS_GATE_DEFAULT        10
+#define POS_GATE_DEFAULT        30
 #define HGT_GATE_DEFAULT        20
 #define MAG_GATE_DEFAULT        3
 #define MAG_CAL_DEFAULT         0
 #define GLITCH_ACCEL_DEFAULT    150
-#define GLITCH_RADIUS_DEFAULT   15
+#define GLITCH_RADIUS_DEFAULT   20
 #define FLOW_MEAS_DELAY         25
 #define FLOW_NOISE_DEFAULT      0.3f
 #define FLOW_GATE_DEFAULT       3