From 84782fff8f5838a0d58f3c32a558ed29d2a7e9d1 Mon Sep 17 00:00:00 2001 From: Martin Miller Date: Wed, 5 Apr 2017 12:28:49 -0500 Subject: changes --- src/state.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/state.cpp') diff --git a/src/state.cpp b/src/state.cpp index e53ad29..8b69ca2 100644 --- a/src/state.cpp +++ b/src/state.cpp @@ -1026,7 +1026,7 @@ State::qhat ( const Quaterniond &q ) void State::quaternion_covariance ( ) { - P.block<4,4>(6,6) = 1e-5*Matrix::Identity(); + P.block<4,4>(6,6) = 1e-12*Matrix::Identity(); return ; } /* ----- end of method State::quaternion_covariance ----- */ -- cgit v1.1