From da0622827dbfe3f1dff3ae6e7b7f8bff5b02a311 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Sat, 21 May 2016 22:10:32 +1000
Subject: [PATCH] AP_NavEKF: update tuning defaults

Increase speed of scale factor learning
---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 4bfd45d281..30aeb7c802 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -23,7 +23,7 @@
 #define GYRO_P_NSE_DEFAULT      3.0E-02f
 #define ACC_P_NSE_DEFAULT       6.0E-01f
 #define GBIAS_P_NSE_DEFAULT     1.0E-04f
-#define GSCALE_P_NSE_DEFAULT    1.0E-05f
+#define GSCALE_P_NSE_DEFAULT    5.0E-04f
 #define ABIAS_P_NSE_DEFAULT     1.0E-03f
 #define MAG_P_NSE_DEFAULT       2.5E-02f
 #define VEL_I_GATE_DEFAULT      500
@@ -47,7 +47,7 @@
 #define GYRO_P_NSE_DEFAULT      3.0E-02f
 #define ACC_P_NSE_DEFAULT       6.0E-01f
 #define GBIAS_P_NSE_DEFAULT     1.0E-04f
-#define GSCALE_P_NSE_DEFAULT    1.0E-05f
+#define GSCALE_P_NSE_DEFAULT    5.0E-04f
 #define ABIAS_P_NSE_DEFAULT     1.0E-03f
 #define MAG_P_NSE_DEFAULT       2.5E-02f
 #define VEL_I_GATE_DEFAULT      500
@@ -71,7 +71,7 @@
 #define GYRO_P_NSE_DEFAULT      3.0E-02f
 #define ACC_P_NSE_DEFAULT       6.0E-01f
 #define GBIAS_P_NSE_DEFAULT     1.0E-04f
-#define GSCALE_P_NSE_DEFAULT    1.0E-05f
+#define GSCALE_P_NSE_DEFAULT    5.0E-04f
 #define ABIAS_P_NSE_DEFAULT     1.0E-03f
 #define MAG_P_NSE_DEFAULT       2.5E-02f
 #define VEL_I_GATE_DEFAULT      500
@@ -95,7 +95,7 @@
 #define GYRO_P_NSE_DEFAULT      3.0E-02f
 #define ACC_P_NSE_DEFAULT       6.0E-01f
 #define GBIAS_P_NSE_DEFAULT     1.0E-04f
-#define GSCALE_P_NSE_DEFAULT    1.0E-05f
+#define GSCALE_P_NSE_DEFAULT    5.0E-04f
 #define ABIAS_P_NSE_DEFAULT     1.0E-03f
 #define MAG_P_NSE_DEFAULT       2.5E-02f
 #define VEL_I_GATE_DEFAULT      500