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The Plane GPS thresholds have been left the same.\r\n\r\nThe Plane Baro threshold has been reduced to be the same as Copter which with the current  settings works out to around 8m of inconsistency before baro measurements are rejected. Note that covariance growth and the timout reset ensure that Baro data cannot be continually rejected.\r\n\r\nTesting in SITL showed that the new EKF was not handling prolonged loss of GPs well because in the  absence of an absolute reference, the magnetic field learning was rotating the earth field states and allowing yaw angle error to build up. When GPS is lost, the declination angle is now constrained.\r\n\r\nPosition covariances were not being reset when position was reset after loss of GPS, which caused repeated position resets due to the glitch radius logic being activated. The position covariance is now reset when the position is reset after recovering from large GPS glitch or loss of 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