From fe76cb4c0ba7b8fb962755357975fa9e5ac757f3 Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Fri, 20 Mar 2015 16:56:28 -0700
Subject: [PATCH] AP_NavEKF : Make initial height variance consistent with baro
 noise

This makes sense to do because we initialise the state to the instantaneous baro reading
---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index e19b05207c..05feacd97e 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3831,7 +3831,7 @@ void NavEKF::CovarianceInit()
     // positions
     P[7][7]   = sq(15.0f);
     P[8][8]   = P[7][7];
-    P[9][9]   = sq(5.0f);
+    P[9][9]   = sq(_baroAltNoise);
     // delta angle biases
     P[10][10] = sq(radians(INIT_GYRO_BIAS_UNCERTAINTY * dtIMU));
     P[11][11] = P[10][10];