diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
index ddc492c698..45e8b1449e 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp
@@ -25,7 +25,7 @@
 #define GYRO_P_NSE_DEFAULT      1.5E-02f
 #define ACC_P_NSE_DEFAULT       3.5E-01f
 #define GBIAS_P_NSE_DEFAULT     1.0E-03f
-#define ABIAS_P_NSE_DEFAULT     6.0E-03f
+#define ABIAS_P_NSE_DEFAULT     2.0E-02f
 #define MAGB_P_NSE_DEFAULT      1.0E-04f
 #define MAGE_P_NSE_DEFAULT      1.0E-03f
 #define VEL_I_GATE_DEFAULT      500
@@ -51,7 +51,7 @@
 #define GYRO_P_NSE_DEFAULT      1.5E-02f
 #define ACC_P_NSE_DEFAULT       3.5E-01f
 #define GBIAS_P_NSE_DEFAULT     1.0E-03f
-#define ABIAS_P_NSE_DEFAULT     6.0E-03f
+#define ABIAS_P_NSE_DEFAULT     2.0E-02f
 #define MAGB_P_NSE_DEFAULT      1.0E-04f
 #define MAGE_P_NSE_DEFAULT      1.0E-03f
 #define VEL_I_GATE_DEFAULT      500
@@ -77,7 +77,7 @@
 #define GYRO_P_NSE_DEFAULT      1.5E-02f
 #define ACC_P_NSE_DEFAULT       3.5E-01f
 #define GBIAS_P_NSE_DEFAULT     1.0E-03f
-#define ABIAS_P_NSE_DEFAULT     6.0E-03f
+#define ABIAS_P_NSE_DEFAULT     2.0E-02f
 #define MAGB_P_NSE_DEFAULT      1.0E-04f
 #define MAGE_P_NSE_DEFAULT      1.0E-03f
 #define VEL_I_GATE_DEFAULT      500
@@ -103,7 +103,7 @@
 #define GYRO_P_NSE_DEFAULT      1.5E-02f
 #define ACC_P_NSE_DEFAULT       3.5E-01f
 #define GBIAS_P_NSE_DEFAULT     1.0E-03f
-#define ABIAS_P_NSE_DEFAULT     6.0E-03f
+#define ABIAS_P_NSE_DEFAULT     2.0E-02f
 #define MAGB_P_NSE_DEFAULT      1.0E-04f
 #define MAGE_P_NSE_DEFAULT      1.0E-03f
 #define VEL_I_GATE_DEFAULT      500
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index 88b44594bc..c7c190d5dc 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -1927,7 +1927,7 @@ void NavEKF3_core::ConstrainVariances()
         zeroRows(P,10,12);
     }
 
-    const ftype minSafeStateVar = 1E-9;
+    const ftype minSafeStateVar = 5E-9;
     if (!inhibitDelVelBiasStates) {
 
         // Find the maximum delta velocity bias state variance and request a covariance reset if any variance is below the safe minimum