summaryrefslogtreecommitdiff
path: root/src/body.cpp
diff options
context:
space:
mode:
Diffstat (limited to 'src/body.cpp')
-rw-r--r--src/body.cpp2
1 files changed, 1 insertions, 1 deletions
diff --git a/src/body.cpp b/src/body.cpp
index a94c8a2..edf2047 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -140,7 +140,7 @@ Body::Q (double dt)
Q.block<3,3>(10,3) = dt*dt*(ACC_STD*ACC_BIAS_STD-0.5*ACC_BIAS_STD*ACC_BIAS_STD)*Matrix3d::Identity();
// Qqq
- Q.block<4,4>(6,6) = 0.25*dt*dt*IMU_NOISE*Matrix<double,4,4>::Identity();
+ Q.block<4,4>(6,6) = 0.25*dt*dt*ANG_STD*ANG_STD*Matrix<double,4,4>::Identity();
#else
// Qbb
Q.block<3,3>(6,6) = dt*dt*ACC_BIAS_STD*ACC_BIAS_STD*Matrix<double,3,3>::Identity();