AP_NavEKF3: reduce gyro bias learning limits when HAL_INS_LOW_NOISE

libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp

@@ -19,6 +19,10 @@ void NavEKF3_core::resetGyroBias(void)
  */
 ftype NavEKF3_core::InitialGyroBiasUncertainty(void) const
 {
+#if AP_INERTIALSENSOR_LOW_NOISE
+    return 1.0f;
+#else
     return 2.5f;
+#endif
 }
 

libraries/AP_NavEKF3/AP_NavEKF3_core.h

@@ -49,7 +49,11 @@
 #define earthRate 0.000072921f // earth rotation rate (rad/sec)
 
 // maximum allowed gyro bias (rad/sec)
+#if AP_INERTIALSENSOR_LOW_NOISE
+#define GYRO_BIAS_LIMIT radians(2.0f)
+#else
 #define GYRO_BIAS_LIMIT 0.5f
+#endif
 
 // initial accel bias uncertainty as a fraction of the state limit
 #define ACCEL_BIAS_LIM_SCALER 0.2f