From 2d922b5cb422a69aa874d197fb4f80451dd9bdb4 Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Mon, 4 Feb 2019 11:02:38 -0500
Subject: [PATCH] FW airframe defaults relax EKF2 GPS checks

---
 ROMFS/px4fmu_common/init.d/rc.fw_defaults | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
index 28bdcb9b64..98397e88fb 100644
--- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults
@@ -21,8 +21,14 @@ then
 
 	param set EKF2_ARSP_THR 8
 	param set EKF2_FUSE_BETA 1
+	param set EKF2_GPS_CHECK 21
 	param set EKF2_MAG_ACCLIM 0
 	param set EKF2_MAG_YAWLIM 0
+	param set EKF2_REQ_EPH 10
+	param set EKF2_REQ_EPV 10
+	param set EKF2_REQ_HDRIFT 0.5
+	param set EKF2_REQ_SACC 1
+	param set EKF2_REQ_VDRIFT 1.0
 
 	param set RTL_RETURN_ALT 100
 	param set RTL_DESCEND_ALT 100
-- 
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