10pct mean error

1 files changed, 14 insertions, 8 deletions

diff --git a/src/main.h b/src/main.h
index e477b69..6af6b6a 100644
--- a/src/main.h
+++ b/src/main.h
@@ -18,9 +18,14 @@
 //#define ROS_PUBLISH          /* Uncomment to publish ROS node */
 //#define ROS_SUBSCRIBE            /* Uncomment to subscribe to ROS */
 
-#define ANGBIASX -2.795871394666666222e-03            /*  */
-#define ANGBIASY 6.984255690000021506e-03
-#define ANGBIASZ 1.418145565750002614e-03
+#define ANGBIASX 0.001107
+#define ANGBIASY 0.008842
+#define ANGBIASZ -0.001122
+#define ACCBIASX -0.018000
+#define ACCBIASY 0.012100
+#define ACCBIASZ -0.010000
+
+
 //#define ANGBIASX 1.019*-2.795871394666666222e-03            /*  */
 //#define ANGBIASY .980*6.984255690000021506e-03
 //#define ANGBIASZ 0.96*1.418145565750002614e-03
@@ -33,12 +38,13 @@
 //#define ACCBIASY 0.2*0.01465135
 //#define ACCBIASZ -1*-0.00709229
 
-#define ACCBIASX -0.03713532
-#define ACCBIASY 0.01465135
-#define ACCBIASZ -1*-0.00709229
+//#define ACCBIASX -0.03713532
+//#define ACCBIASY 0.01465135
+//#define ACCBIASZ -1*-0.00709229
 
-#define CANOECENTER 0.82            /* center of gravity of canoe  */
-#define CANOEHEIGHT -0.46
+//#define CANOECENTER 0.82            /* center of gravity of canoe  */
+#define CANOECENTER 0.65            /* center of gravity of canoe  */
+#define CANOEHEIGHT -0.50
 //#define CANOEHEIGHT -0.75
 #define DOWNSAMPLE 1            /*  */
 #define HEIGHT_FROM_ATTITUDE    /* use the attitude to measure the height */