diff options
Diffstat (limited to 'src/body.cpp')
| -rw-r--r-- | src/body.cpp | 2 |
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(); |