From 1eaf318b9bf03027e98d310a2a2da129fab7e64e Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p-riseborough@live.com.au>
Date: Fri, 23 Oct 2015 11:47:54 +1100
Subject: [PATCH] AP_NavEKF2: Faster learning of gyro scale factors

---
 libraries/AP_NavEKF2/AP_NavEKF2.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
index 417eed15a3..d63c034d6b 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@@ -34,7 +34,7 @@
 #define FLOW_MEAS_DELAY         10
 #define FLOW_NOISE_DEFAULT      0.25f
 #define FLOW_GATE_DEFAULT       3
-#define GSCALE_PNOISE_DEFAULT   1.5E-03f
+#define GSCALE_PNOISE_DEFAULT   3.0E-03f
 
 #elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
 // rover defaults
@@ -57,7 +57,7 @@
 #define FLOW_MEAS_DELAY         10
 #define FLOW_NOISE_DEFAULT      0.25f
 #define FLOW_GATE_DEFAULT       3
-#define GSCALE_PNOISE_DEFAULT   1.5E-03f
+#define GSCALE_PNOISE_DEFAULT   3.0E-03f
 
 #else
 // generic defaults (and for plane)
@@ -80,7 +80,7 @@
 #define FLOW_MEAS_DELAY         10
 #define FLOW_NOISE_DEFAULT      0.25f
 #define FLOW_GATE_DEFAULT       3
-#define GSCALE_PNOISE_DEFAULT   1.5E-03f
+#define GSCALE_PNOISE_DEFAULT   3.0E-03f
 
 #endif // APM_BUILD_DIRECTORY