From eed50a087244dd8c306b7964b337ce794e8f3dba Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 16 Apr 2024 08:30:41 +1000
Subject: [PATCH] AP_DAL: change gyro filter to 10Hz

this improved EKF3 IMU position correction for noise
---
 libraries/AP_DAL/AP_DAL_InertialSensor.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_DAL/AP_DAL_InertialSensor.cpp b/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
index e8332cb7ad..136e905f52 100644
--- a/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
+++ b/libraries/AP_DAL/AP_DAL_InertialSensor.cpp
@@ -54,9 +54,9 @@ void AP_DAL_InertialSensor::start_frame()
 void AP_DAL_InertialSensor::update_filtered(uint8_t i)
 {
     if (!is_positive(alpha)) {
-        // we use a constant 20Hz for EKF filtered accel/gyro, making the EKF
+        // we use a constant 10Hz for EKF filtered accel/gyro, making the EKF
         // independent of the INS filter settings
-        const float cutoff_hz = 20.0;
+        const float cutoff_hz = 10.0;
         alpha = calc_lowpass_alpha_dt(get_loop_delta_t(), cutoff_hz);
     }
     if (is_positive(_RISI[i].delta_angle_dt)) {