From 850af149498f155cb46229318000f438d69721ac Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 31 Jan 2015 08:38:28 +1100
Subject: [PATCH] AP_NavEKF: raise EKF_POS_GATE and EKF_GLITCH_RAD for planes

This weights GPS position more heavily for planes

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
---
 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 520d056efd..16957d3806 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -87,12 +87,12 @@
 #define MAGE_PNOISE_DEFAULT     0.0003f
 #define MAGB_PNOISE_DEFAULT     0.0003f
 #define VEL_GATE_DEFAULT        6
-#define POS_GATE_DEFAULT        10
+#define POS_GATE_DEFAULT        30
 #define HGT_GATE_DEFAULT        20
 #define MAG_GATE_DEFAULT        3
 #define MAG_CAL_DEFAULT         0
 #define GLITCH_ACCEL_DEFAULT    150
-#define GLITCH_RADIUS_DEFAULT   15
+#define GLITCH_RADIUS_DEFAULT   20
 #define FLOW_MEAS_DELAY         25
 #define FLOW_NOISE_DEFAULT      0.3f
 #define FLOW_GATE_DEFAULT       3