From b96835302d5f31c779ae5425e9188d4add306cc7 Mon Sep 17 00:00:00 2001
From: PX4BuildBot <bot@px4.io>
Date: Thu, 26 Sep 2019 15:55:13 +0000
Subject: [PATCH] Update PX4 Firmware metadata Thu Sep 26 15:55:13 UTC 2019

---
 .../PX4/PX4ParameterFactMetaData.xml          | 29 ++++++++++++++-----
 1 file changed, 21 insertions(+), 8 deletions(-)

diff --git a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
index 21f75b4c2..9f71f7b22 100644
--- a/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
+++ b/src/FirmwarePlugin/PX4/PX4ParameterFactMetaData.xml
@@ -1376,12 +1376,32 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly</short_des
       <unit>rad</unit>
       <decimal>2</decimal>
     </parameter>
-    <parameter default="0.05" name="EKF2_EVP_NOISE" type="FLOAT">
+    <parameter default="5.0" name="EKF2_EVP_GATE" type="FLOAT">
+      <short_desc>Gate size for vision position fusion
+Sets the number of standard deviations used by the innovation consistency test</short_desc>
+      <min>1.0</min>
+      <unit>SD</unit>
+      <decimal>1</decimal>
+    </parameter>
+    <parameter default="0.1" name="EKF2_EVP_NOISE" type="FLOAT">
       <short_desc>Measurement noise for vision position observations used when the vision system does not supply error estimates</short_desc>
       <min>0.01</min>
       <unit>m</unit>
       <decimal>2</decimal>
     </parameter>
+    <parameter default="3.0" name="EKF2_EVV_GATE" type="FLOAT">
+      <short_desc>Gate size for vision velocity estimate fusion</short_desc>
+      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
+      <min>1.0</min>
+      <unit>SD</unit>
+      <decimal>1</decimal>
+    </parameter>
+    <parameter default="0.1" name="EKF2_EVV_NOISE" type="FLOAT">
+      <short_desc>Measurement noise for vision velocity observations used when the vision system does not supply error estimates</short_desc>
+      <min>0.01</min>
+      <unit>m/s</unit>
+      <decimal>2</decimal>
+    </parameter>
     <parameter default="175" name="EKF2_EV_DELAY" type="FLOAT">
       <short_desc>Vision Position Estimator delay relative to IMU measurements</short_desc>
       <min>0</min>
@@ -1390,13 +1410,6 @@ Increasing it makes the multi-rotor wind estimates adjust more slowly</short_des
       <decimal>1</decimal>
       <reboot_required>true</reboot_required>
     </parameter>
-    <parameter default="5.0" name="EKF2_EV_GATE" type="FLOAT">
-      <short_desc>Gate size for vision estimate fusion</short_desc>
-      <long_desc>Sets the number of standard deviations used by the innovation consistency test.</long_desc>
-      <min>1.0</min>
-      <unit>SD</unit>
-      <decimal>1</decimal>
-    </parameter>
     <parameter default="0.0" name="EKF2_EV_POS_X" type="FLOAT">
       <short_desc>X position of VI sensor focal point in body frame</short_desc>
       <unit>m</unit>
-- 
2.22.0