From e095f179c4a883b8b1226662cdf0f1dfa3a31456 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Sun, 19 Mar 2017 01:07:51 -0500
Subject: Adjust UTM output and bias.

---
 src/main.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

(limited to 'src/main.cpp')

diff --git a/src/main.cpp b/src/main.cpp
index 5d4ea71..f1f2cd8 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -55,7 +55,7 @@ imuCallback(const message &msg, State &mu, const Quaterniond &q, const timestamp
     Vector3d acc(msg.linear_acceleration.y,msg.linear_acceleration.x,-msg.linear_acceleration.z);
     Vector3d ang(msg.angular_velocity.y,msg.angular_velocity.x,-msg.angular_velocity.z);
     // WARNING: This is the bias for 1112-1
-    Vector3d ang_bias(-2.795871394666666222e-03, 6.984255690000021506e-03, 1.418145565750002614e-03);
+    Vector3d ang_bias(-2.795871394666666222e-03, 6.984255690000021506e-03, -1.418145565750002614e-03);
     ang -= ang_bias;
     double dtf = dt.secs+dt.nsecs*1e-9;
 
@@ -220,7 +220,8 @@ main(int argc, char **argv)
     Quaterniond qbw;
     // bias in FRD coordinates
     Vector3d acc_bias;
-    acc_bias << -0.03713532, 1.125*0.01465135, -1*-0.00709229;
+    //acc_bias << -0.03713532, 1.125*0.01465135, -1*-0.00709229;
+    acc_bias << 0.95*-0.03713532, 0.65*0.01465135, -1*-0.00709229;
     mu.accelerometer_bias(acc_bias);
     timestamp dt{0,0};
     timestamp t_old{0,0};
-- 
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