diff options
Diffstat (limited to 'src/main.cpp')
| -rw-r--r-- | src/main.cpp | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/src/main.cpp b/src/main.cpp index b1b1a5d..eb1cdc1 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -31,7 +31,7 @@ double aboveWater(const Quaterniond &q) { Vector3d tip; - tip << 0.65*3.43, 0, -0.60; + tip << CANOECENTER*3.43, 0, -0.60; tip = q._transformVector(tip); return tip[2]; } @@ -122,7 +122,7 @@ imuCallback(const message &msg, State &mu, const Quaterniond &q, const timestamp Vector3d acc(msg.linear_acceleration.y,msg.linear_acceleration.x,-msg.linear_acceleration.z); Vector3d ang(msg.angular_velocity.y,msg.angular_velocity.x,-msg.angular_velocity.z); // WARNING: This is the bias for 1112-1 - Vector3d ang_bias(-2.795871394666666222e-03, 6.984255690000021506e-03, -1.418145565750002614e-03); + Vector3d ang_bias(ANGBIASX, ANGBIASY, ANGBIASZ); ang -= ang_bias; double dtf = dt.secs+dt.nsecs*1e-9; @@ -332,8 +332,7 @@ main(int argc, char **argv) Quaterniond qbw; // bias in FRD coordinates Vector3d acc_bias; - //acc_bias << -0.03713532, 1.125*0.01465135, -1*-0.00709229; - acc_bias << 0.95*-0.03713532, 0.65*0.01465135, -1*-0.00709229; + acc_bias << ACCBIASX, ACCBIASY, ACCBIASZ; mu.accelerometer_bias(acc_bias); timestamp dt{0,0}; timestamp t_old{0,0}; |