1 files changed, 4 insertions, 0 deletions
diff --git a/src/body.h b/src/body.h
index 4653588..1db9215 100644
--- a/src/body.h
+++ b/src/body.h
@@ -4,6 +4,10 @@
 #include <iostream>
 #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 ACC_BIAS_STD 22e-3
+#define ANG_BIAS_STD 7e-6
 #define IMU_NOISE 800e-6            /* IMU process noise */
 #define IMU_RANDOMWALK 50e-6      /* Bias process noise */
 //#define DOCLAMP