Proper NIS value for precision landing

@lenorin wrote:

@rmackay9 @ThomasSFL

Am wondering, what is an "acceptable"/common/expected/in-family ballpark steady-state NIS for the precision landing EKF. I am trying to benchmark to see if my system is somehow under (or over!) performing. Flight was on ArduCopter 3.4 mint (except my little NIS recording patch).

Here is a plot of NIS from a series of precision landings:
Image may be NSFW.
Clik here to view.

Here is a slightly filtered plot of the same data (to clean it up a bit):
Image may be NSFW.
Clik here to view.

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