ekf rng kin: increase default gate size

The user needs to tune the range finder noise parameters properly and we
shouldn't need such a small gate

src/modules/ekf2/EKF/common.h

@@ -307,7 +307,7 @@ struct parameters {
 	float range_aid_innov_gate{1.0f}; 	///< gate size used for innovation consistency checks for range aid fusion
 	float range_valid_quality_s{1.0f};	///< minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)
 	float range_cos_max_tilt{0.7071f};	///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data
-	float range_kin_consistency_gate{0.2f}; ///< gate size used by the range finder kinematic consistency check
+	float range_kin_consistency_gate{1.0f}; ///< gate size used by the range finder kinematic consistency check
 
 	// vision position fusion
 	float ev_vel_innov_gate{3.0f};		///< vision velocity fusion innovation consistency gate size (STD)

src/modules/ekf2/ekf2_params.c

@@ -1122,12 +1122,14 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_QLTY_T, 1.0f);
  *
  * Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...).
  *
+ * Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate.
+ *
  * @group EKF2
  * @unit SD
- * @min 0.01
+ * @min 0.1
  * @max 5.0
 */
-PARAM_DEFINE_FLOAT(EKF2_RNG_K_GATE, 0.2f);
+PARAM_DEFINE_FLOAT(EKF2_RNG_K_GATE, 1.0f);
 
 /**
  * Gate size for vision velocity estimate fusion