From f172db4323c271aa16b883f8a3c571614c53691c Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Mon, 27 Mar 2017 12:58:46 -0500
Subject: Change {State,Body}::enu() to pos()

---
 src/body.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

(limited to 'src/body.cpp')

diff --git a/src/body.cpp b/src/body.cpp
index ae43e58..1fd66d4 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -62,12 +62,12 @@ Body::S ( const Matrix<double,9,9> &Pxx )
 /*
  *--------------------------------------------------------------------------------------
  *       Class:  Body
- *      Method:  Body :: enu
- * Description:  Stores the position input as ENU. Internally stored as NED.
+ *      Method:  Body :: pos
+ * Description:  Stores the UTM position in NED format.
  *--------------------------------------------------------------------------------------
  */
 void
-Body::enu ( const UTM &utm )
+Body::pos ( const UTM &utm )
 {
     utm_c = utm.zone_c;
     utm_i = utm.zone_i;
@@ -75,7 +75,7 @@ Body::enu ( const UTM &utm )
     X[1] = utm.easting;
     X[2] = -utm.up;
     return ;
-}		/* -----  end of method Body::enu  ----- */
+}		/* -----  end of method Body::pos  ----- */
 
 
 /*
@@ -89,7 +89,7 @@ Matrix<double,1,1>
 Body::R()
 {
     Matrix<double,1,1> R;
-    R << 1e-6;
+    R << 1e-2;
     return R;
 }
 
@@ -110,7 +110,7 @@ Body::Q (double dt)
     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-5;
-    Q.block<3,3>(6,6) = dt*dt*5e-6*Matrix<double,3,3>::Identity();
+    Q.block<3,3>(6,6) = dt*dt*5e-7*Matrix<double,3,3>::Identity();
     return Q;
 }		/* -----  end of method Body::q  ----- */
 
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