From 89e27c8a69f0ea9bf98a17c8f164b2f3545bb7fe Mon Sep 17 00:00:00 2001
From: Andy Piper <github@andypiper.com>
Date: Sat, 14 Feb 2026 10:29:31 +0000
Subject: [PATCH] AP_NavEKF3: reduce gyro bias learning limits when
 HAL_INS_LOW_NOISE

---
 libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp | 4 ++++
 libraries/AP_NavEKF3/AP_NavEKF3_core.h       | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
index 6e3ed85a1d2..c5397e0169b 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_GyroBias.cpp
+++ b/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
 }
 
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index d35d17993f4..ac09f2a243a 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/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