diff options
Diffstat (limited to 'src/state.cpp')
| -rw-r--r-- | src/state.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/state.cpp b/src/state.cpp index e53ad29..8b69ca2 100644 --- a/src/state.cpp +++ b/src/state.cpp @@ -1026,7 +1026,7 @@ State::qhat ( const Quaterniond &q ) void State::quaternion_covariance ( ) { - P.block<4,4>(6,6) = 1e-5*Matrix<double,4,4>::Identity(); + P.block<4,4>(6,6) = 1e-12*Matrix<double,4,4>::Identity(); return ; } /* ----- end of method State::quaternion_covariance ----- */ |