From d2070eef13177191a25e97cdb78b60bd58743a9e Mon Sep 17 00:00:00 2001
From: Miller
Date: Tue, 4 Jul 2017 13:35:51 -0500
Subject: params for body noise

---
 src/body.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

(limited to 'src/body.cpp')

diff --git a/src/body.cpp b/src/body.cpp
index 018075b..5579e4d 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -101,7 +101,7 @@ Matrix<double,1,1>
 Body::R()
 {
     Matrix<double,1,1> R;
-    R << R_HEIGHT;
+    R << r_height;
     return R;
 }
 
@@ -142,12 +142,12 @@ Body::Q (double dt)
 #endif
     Matrix<double,STATESIZE,STATESIZE> Q;
     Q = Matrix<double,STATESIZE,STATESIZE>::Zero();
-    Q = ACC_STD*ACC_STD*Ga*Ga.transpose();
-    Q += ACC_BIAS_STD*ACC_BIAS_STD*Gb*Gb.transpose();
-    Q += ANG_STD*ANG_STD * Gw * Gw.transpose();
+    Q = acc_std*acc_std*Ga*Ga.transpose();
+    Q += acc_bias_std*acc_bias_std*Gb*Gb.transpose();
+    Q += ang_std*ang_std * Gw * Gw.transpose();
 
 #if STATESIZE==13
-    Q += ANG_STD*ANG_STD *Gq * Gq.transpose();
+    Q += ang_std*ang_std *Gq * Gq.transpose();
 #endif
 
 
-- 
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