diff options
Diffstat (limited to 'src/main.h')
| -rw-r--r-- | src/main.h | 22 |
1 files changed, 14 insertions, 8 deletions
@@ -18,9 +18,14 @@ //#define ROS_PUBLISH /* Uncomment to publish ROS node */ //#define ROS_SUBSCRIBE /* Uncomment to subscribe to ROS */ -#define ANGBIASX -2.795871394666666222e-03 /* */ -#define ANGBIASY 6.984255690000021506e-03 -#define ANGBIASZ 1.418145565750002614e-03 +#define ANGBIASX 0.001107 +#define ANGBIASY 0.008842 +#define ANGBIASZ -0.001122 +#define ACCBIASX -0.018000 +#define ACCBIASY 0.012100 +#define ACCBIASZ -0.010000 + + //#define ANGBIASX 1.019*-2.795871394666666222e-03 /* */ //#define ANGBIASY .980*6.984255690000021506e-03 //#define ANGBIASZ 0.96*1.418145565750002614e-03 @@ -33,12 +38,13 @@ //#define ACCBIASY 0.2*0.01465135 //#define ACCBIASZ -1*-0.00709229 -#define ACCBIASX -0.03713532 -#define ACCBIASY 0.01465135 -#define ACCBIASZ -1*-0.00709229 +//#define ACCBIASX -0.03713532 +//#define ACCBIASY 0.01465135 +//#define ACCBIASZ -1*-0.00709229 -#define CANOECENTER 0.82 /* center of gravity of canoe */ -#define CANOEHEIGHT -0.46 +//#define CANOECENTER 0.82 /* center of gravity of canoe */ +#define CANOECENTER 0.65 /* center of gravity of canoe */ +#define CANOEHEIGHT -0.50 //#define CANOEHEIGHT -0.75 #define DOWNSAMPLE 1 /* */ #define HEIGHT_FROM_ATTITUDE /* use the attitude to measure the height */ |