From 81809d8234cd2411aaa50c6ac348a1b92ae618d8 Mon Sep 17 00:00:00 2001
From: Julian Oes <julian@oes.ch>
Date: Tue, 3 Dec 2019 22:27:53 +0100
Subject: [PATCH] ROMFS: prevent high accel bias in SITL

---
 ROMFS/px4fmu_common/init.d-posix/rcS | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d-posix/rcS b/ROMFS/px4fmu_common/init.d-posix/rcS
index 4edc31eb41..f59a959321 100644
--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@@ -140,6 +140,10 @@ then
 	param set EKF2_ANGERR_INIT 0.01
 	param set EKF2_HGT_MODE 0
 	param set EKF2_GBIAS_INIT 0.01
+
+	# Prevent high accel bias
+	param set COM_ARM_EKF_AB 0.005
+
 	# Speedup SITL startup
 	param set EKF2_REQ_GPS_H 0.5