From 7780d557880fec24c7a6698027f0c134544870bc Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Sat, 22 Mar 2014 08:10:08 +1100
Subject: [PATCH] AP_NavEKF : Prevent large magnetic field adaptations early in
 flight

---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 9f984428c2..e6ce23ec67 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -2703,11 +2703,11 @@ void NavEKF::CovarianceInit(float roll, float pitch, float yaw)
     P[14][14] = sq(8.0f);
     P[15][15]  = P[14][14];
     // earth magnetic field
-    P[16][16] = sq(0.02f);
+    P[16][16] = sq(0.001f);
     P[17][17] = P[16][16];
     P[18][18] = P[16][16];
     // body magnetic field
-    P[19][19] = sq(0.02f);
+    P[19][19] = sq(0.001f);
     P[20][20] = P[19][19];
     P[21][21] = P[19][19];
 }