From 942a1f329ff6c8b48c3c5e136248a64559feb8e8 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <priseborough@sypaq.com.au>
Date: Thu, 15 Jul 2021 14:51:02 +1000
Subject: [PATCH] AP_NavEKF3: Allow smaller dvel bias state variances for
 improved tuning

---
 libraries/AP_NavEKF3/AP_NavEKF3_core.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 646f45dfc9..933fc37248 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -1885,11 +1885,11 @@ void NavEKF3_core::ConstrainVariances()
         zeroRows(P,10,12);
     }
 
-    const ftype minStateVarTarget = 1E-8;
+    const ftype minStateVarTarget = 1E-11;
     if (!inhibitDelVelBiasStates) {
 
         // Find the maximum delta velocity bias state variance and request a covariance reset if any variance is below the safe minimum
-        const ftype minSafeStateVar = 1e-9;
+        const ftype minSafeStateVar = minStateVarTarget * 0.1f;
         ftype maxStateVar = minSafeStateVar;
         bool resetRequired = false;
         for (uint8_t stateIndex=13; stateIndex<=15; stateIndex++) {