From 1c543489862cd0bf9c559cee6575baf20f84b2d0 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 11 Apr 2017 10:57:04 -0500
Subject: Remove features after 5 timesteps without measurements

---
 src/state.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/state.h')

diff --git a/src/state.h b/src/state.h
index 3ec5f10..70c73fe 100644
--- a/src/state.h
+++ b/src/state.h
@@ -11,7 +11,7 @@
 #include "types.h"
 #include "vision.h"
 
-#define MAXFEATURES 70
+#define MAXFEATURES 40
 #define MINFEATURES 30
 #define COVBIAS 2e-5
 //#define FASTMOTIONMODEL // Uncomment this to perform motion model update on all features at once
-- 
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