From 0a4594884adcdef15abe861fc64d74b7511c6055 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Wed, 5 Apr 2017 14:08:25 -0500
Subject: Improved process noise modeling

---
 src/body.h | 4 ++++
 1 file changed, 4 insertions(+)

(limited to 'src/body.h')

diff --git a/src/body.h b/src/body.h
index 4653588..1db9215 100644
--- a/src/body.h
+++ b/src/body.h
@@ -4,6 +4,10 @@
 #include <iostream>
 #include "types.h"
 #define R_HEIGHT 2.5e-3            /* measurement noise of height measurement */
+#define ACC_STD 28e-3
+#define ANG_STD 80e-6
+#define ACC_BIAS_STD 22e-3
+#define ANG_BIAS_STD 7e-6
 #define IMU_NOISE 800e-6            /* IMU process noise */
 #define IMU_RANDOMWALK 50e-6      /* Bias process noise */
 //#define DOCLAMP
-- 
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