1 files changed, 3 insertions, 1 deletions
diff --git a/src/body.h b/src/body.h
index bdf8c28..0d1b09d 100644
--- a/src/body.h
+++ b/src/body.h
@@ -3,7 +3,9 @@
 #include <Eigen/Dense>
 #include <iostream>
 #include "types.h"
-
+#define R_HEIGHT 1e-2            /* measurement noise of height measurement */
+#define IMU_NOISE 800e-6            /* IMU process noise */
+#define IMU_RANDOMWALK 5e-6      /* Bias process noise */
 using Eigen::Matrix;
 using Eigen::Vector3d;
 using Eigen::Quaterniond;