From eab0ef4266053a09468c53f251cf69f1f03b1d8a Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Wed, 9 Mar 2016 10:36:41 +1100
Subject: [PATCH] EKF: Update default process noise for terrain estimator

---
 EKF/common.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/EKF/common.h b/EKF/common.h
index 44fbba8dd5..291e3df73a 100644
--- a/EKF/common.h
+++ b/EKF/common.h
@@ -234,7 +234,7 @@ struct parameters {
 		gyro_scale_p_noise = 3.0e-3f;
 		mag_p_noise = 2.5e-2f;
 		wind_vel_p_noise = 1.0e-1f;
-		terrain_p_noise = 0.5f;
+		terrain_p_noise = 5.0f;
 		terrain_gradient = 0.5f;
 
 		// position and velocity fusion