1 files changed, 11 insertions, 10 deletions
diff --git a/src/main.h b/src/main.h
index 746e187..6e11875 100644
--- a/src/main.h
+++ b/src/main.h
@@ -22,23 +22,24 @@
 #define ANGBIASY 6.984255690000021506e-03
 #define ANGBIASZ -1.418145565750002614e-03
 
-#define ACCBIASX 0.95*-0.03713532
-#define ACCBIASY 0.65*0.01465135
-#define ACCBIASZ -1*-0.00709229
+//#define ACCBIASX 0.95*-0.03713532
+//#define ACCBIASY 0.65*0.01465135
+//#define ACCBIASZ -1*-0.00709229
 
 //#define ACCBIASX 0.99*-0.03713532
 //#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 0.65            /* center of gravity of canoe  */
-#define CANOEHEIGHT -0.55
+#define CANOECENTER 0.88            /* 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 */
-//#define MEASURE_HEIGHT
+#define HEIGHT_FROM_ATTITUDE    /* use the attitude to measure the height */
+#define MEASURE_HEIGHT
 
 #if  ROS_PUBLISH
 #include <ros/ros.h>