From e5e65d31eb86fc41ddc68e5bb09f3729f8c009ae Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Wed, 29 Mar 2017 16:04:02 -0500
Subject: 1.2 m error on 1112-1-3

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

(limited to 'src/state.h')

diff --git a/src/state.h b/src/state.h
index 11bfa46..92a83ab 100644
--- a/src/state.h
+++ b/src/state.h
@@ -10,6 +10,7 @@
 #include "types.h"
 
 #define MAXFEATURES 50
+#define COVBIAS 1e-7
 //#define FASTMOTIONMODEL // Uncomment this to perform motion model update on all features at once
 #define FULLS // Comment out to treat each measurement independently.
 //#define BLOCKSI
-- 
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