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.h | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

(limited to 'src/body.h')

diff --git a/src/body.h b/src/body.h
index bdf8c28..0d1b09d 100644
--- a/src/body.h
+++ b/src/body.h
@@ -3,7 +3,9 @@
 #include <Eigen/Dense>
 #include <iostream>
 #include "types.h"
-
+#define R_HEIGHT 1e-2            /* measurement noise of height measurement */
+#define IMU_NOISE 800e-6            /* IMU process noise */
+#define IMU_RANDOMWALK 5e-6      /* Bias process noise */
 using Eigen::Matrix;
 using Eigen::Vector3d;
 using Eigen::Quaterniond;
-- 
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