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authorMartin Miller2017-04-06 14:42:25 -0500
committerMartin Miller2017-04-06 14:42:25 -0500
commit50f7b829a9848aae7236f69a90f7db5d9af19f22 (patch)
tree32fdd162deeb92877dcdac2e837de5a32cbc4e95 /src/body.h
parentfe4ed819b186d56c7c66e196c4717ddc4ab99415 (diff)
downloadrefslam-50f7b829a9848aae7236f69a90f7db5d9af19f22.zip
refslam-50f7b829a9848aae7236f69a90f7db5d9af19f22.tar.gz
process noise
Diffstat (limited to 'src/body.h')
-rw-r--r--src/body.h2
1 files changed, 1 insertions, 1 deletions
diff --git a/src/body.h b/src/body.h
index 1db9215..a891e92 100644
--- a/src/body.h
+++ b/src/body.h
@@ -5,7 +5,7 @@
#include "types.h"
#define R_HEIGHT 2.5e-3 /* measurement noise of height measurement */
#define ACC_STD 28e-3
-#define ANG_STD 80e-6
+#define ANG_STD 20e-3
#define ACC_BIAS_STD 22e-3
#define ANG_BIAS_STD 7e-6
#define IMU_NOISE 800e-6 /* IMU process noise */