From af8856394e8284462cd0e0c9e25d01a01a4ff551 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Wed, 29 Mar 2017 12:28:45 -0500
Subject: Change hardcoded values to defines

---
 src/body.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'src/body.cpp')

diff --git a/src/body.cpp b/src/body.cpp
index 6985278..7ded581 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -90,7 +90,7 @@ Matrix<double,1,1>
 Body::R()
 {
     Matrix<double,1,1> R;
-    R << 1e-3;
+    R << R_HEIGHT;
     return R;
 }
 
@@ -110,8 +110,8 @@ Body::Q (double dt)
     Q.block<3,3>(3,0) = 0.5*dt*dt*dt*Matrix<double,3,3>::Identity();
     Q.block<3,3>(0,3) = 0.5*dt*dt*dt*Matrix<double,3,3>::Identity();
     Q.block<3,3>(3,3) = dt*dt*Matrix<double,3,3>::Identity();
-    Q *= 800e-6;
-    Q.block<3,3>(6,6) = dt*dt*5e-6*Matrix<double,3,3>::Identity();
+    Q *= IMU_NOISE;
+    Q.block<3,3>(6,6) = dt*dt*IMU_RANDOMWALK*Matrix<double,3,3>::Identity();
     return Q;
 }		/* -----  end of method Body::q  ----- */
 
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