diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 201f0a9a3a..390071c67e 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -312,7 +312,7 @@
 //////////////////////////////////////////////////////////////////////////////
 //  EKF Checker
 #ifndef EKFCHECK_THRESHOLD_DEFAULT
- # define EKFCHECK_THRESHOLD_DEFAULT    0.6f    // EKF checker's default compass and velocity variance above which the EKF's horizontal position will be considered bad
+ # define EKFCHECK_THRESHOLD_DEFAULT    0.8f    // EKF checker's default compass and velocity variance above which the EKF's horizontal position will be considered bad
 #endif
 
 //////////////////////////////////////////////////////////////////////////////
diff --git a/ArduCopter/ekf_check.pde b/ArduCopter/ekf_check.pde
index bb4ae2ac63..11c59ac486 100644
--- a/ArduCopter/ekf_check.pde
+++ b/ArduCopter/ekf_check.pde
@@ -11,10 +11,6 @@
  # define EKF_CHECK_ITERATIONS_MAX          10      // 1 second (ie. 10 iterations at 10hz) of bad variances signals a failure
 #endif
 
-#ifndef EKF_CHECK_COMPASS_INAV_CONVERSION
- # define EKF_CHECK_COMPASS_INAV_CONVERSION 0.0075f // converts the inertial nav's acceleration corrections to a form that is comparable to the ekf variance
-#endif
-
 #ifndef EKF_CHECK_WARNING_TIME
  # define EKF_CHECK_WARNING_TIME            (30*1000)   // warning text messages are sent to ground no more than every 30 seconds
 #endif