diff options
| author | Martin Miller | 2017-04-03 09:51:19 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-03 09:51:19 -0500 |
| commit | 997967da8e01216b3c655613d875af30fdf2d0c8 (patch) | |
| tree | cd13601a77820c42cd536e13c43cbb5c28ebd244 /src/main.h | |
| parent | 3896b8bb0f4026f5259bf23f43b0c991c002102f (diff) | |
| download | refslam-997967da8e01216b3c655613d875af30fdf2d0c8.zip refslam-997967da8e01216b3c655613d875af30fdf2d0c8.tar.gz | |
changes
Diffstat (limited to 'src/main.h')
| -rw-r--r-- | src/main.h | 21 |
1 files changed, 11 insertions, 10 deletions
@@ -22,23 +22,24 @@ #define ANGBIASY 6.984255690000021506e-03 #define ANGBIASZ -1.418145565750002614e-03 -#define ACCBIASX 0.95*-0.03713532 -#define ACCBIASY 0.65*0.01465135 -#define ACCBIASZ -1*-0.00709229 +//#define ACCBIASX 0.95*-0.03713532 +//#define ACCBIASY 0.65*0.01465135 +//#define ACCBIASZ -1*-0.00709229 //#define ACCBIASX 0.99*-0.03713532 //#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 0.65 /* center of gravity of canoe */ -#define CANOEHEIGHT -0.55 +#define CANOECENTER 0.88 /* 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 */ -//#define MEASURE_HEIGHT +#define HEIGHT_FROM_ATTITUDE /* use the attitude to measure the height */ +#define MEASURE_HEIGHT #if ROS_PUBLISH #include <ros/ros.h> |