From 92c30260728d92ee4be8d08473e9068ef1c54926 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Sun, 21 Dec 2014 21:14:53 +1100
Subject: [PATCH] AP_NavEKF: Link process noise to arm status, not pos hold
 mode

---
 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 06a42933da..f67fdf5dd8 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -1213,10 +1213,10 @@ void NavEKF::CovariancePrediction()
     }
     for (uint8_t i= 0; i<=9;  i++) processNoise[i] = 1.0e-9f;
     for (uint8_t i=10; i<=12; i++) processNoise[i] = dAngBiasSigma;
-    // scale gyro bias noise when in position hold mode to allow for faster bias estimation
+    // scale gyro bias noise when disarmed to allow for faster bias estimation
     for (uint8_t i=10; i<=12; i++) {
         processNoise[i] = dAngBiasSigma;
-        if (posHoldMode) {
+        if (!vehicleArmed) {
             processNoise[i] *= _gyroBiasNoiseScaler;
         }
     }