From 50f7b829a9848aae7236f69a90f7db5d9af19f22 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Thu, 6 Apr 2017 14:42:25 -0500
Subject: process noise

---
 src/body.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/body.cpp')

diff --git a/src/body.cpp b/src/body.cpp
index a94c8a2..edf2047 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -140,7 +140,7 @@ Body::Q (double dt)
     Q.block<3,3>(10,3) = dt*dt*(ACC_STD*ACC_BIAS_STD-0.5*ACC_BIAS_STD*ACC_BIAS_STD)*Matrix3d::Identity();
     
     // Qqq
-    Q.block<4,4>(6,6) = 0.25*dt*dt*IMU_NOISE*Matrix<double,4,4>::Identity();
+    Q.block<4,4>(6,6) = 0.25*dt*dt*ANG_STD*ANG_STD*Matrix<double,4,4>::Identity();
 #else
     // Qbb
     Q.block<3,3>(6,6) = dt*dt*ACC_BIAS_STD*ACC_BIAS_STD*Matrix<double,3,3>::Identity();
-- 
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