From 8df4add72926befcce7d61d3cbb700c0108173b9 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Tue, 11 Oct 2016 13:26:18 -0700
Subject: [PATCH] AC_PrecLand: trust initial velocity less

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

diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp
index 1672a8be02..9b4cc70ce1 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand.cpp
@@ -160,8 +160,8 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid)
                 if (!target_acquired()) {
                     // reset filter state
                     if (_inav.get_filter_status().flags.horiz_pos_rel) {
-                        _ekf_x.init(targetPosRelMeasNED.x, xy_pos_var, -vehicleVelocityNED.x, sq(1.0f));
-                        _ekf_y.init(targetPosRelMeasNED.y, xy_pos_var, -vehicleVelocityNED.y, sq(1.0f));
+                        _ekf_x.init(targetPosRelMeasNED.x, xy_pos_var, -vehicleVelocityNED.x, sq(2.0f));
+                        _ekf_y.init(targetPosRelMeasNED.y, xy_pos_var, -vehicleVelocityNED.y, sq(2.0f));
                     } else {
                         _ekf_x.init(targetPosRelMeasNED.x, xy_pos_var, 0.0f, sq(10.0f));
                         _ekf_y.init(targetPosRelMeasNED.y, xy_pos_var, 0.0f, sq(10.0f));