From 50f7b829a9848aae7236f69a90f7db5d9af19f22 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Thu, 6 Apr 2017 14:42:25 -0500
Subject: process noise

---
 src/body.cpp | 2 +-
 src/body.h   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

(limited to 'src')

diff --git a/src/body.cpp b/src/body.cpp
index a94c8a2..edf2047 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -140,7 +140,7 @@ Body::Q (double dt)
     Q.block<3,3>(10,3) = dt*dt*(ACC_STD*ACC_BIAS_STD-0.5*ACC_BIAS_STD*ACC_BIAS_STD)*Matrix3d::Identity();
     
     // Qqq
-    Q.block<4,4>(6,6) = 0.25*dt*dt*IMU_NOISE*Matrix<double,4,4>::Identity();
+    Q.block<4,4>(6,6) = 0.25*dt*dt*ANG_STD*ANG_STD*Matrix<double,4,4>::Identity();
 #else
     // Qbb
     Q.block<3,3>(6,6) = dt*dt*ACC_BIAS_STD*ACC_BIAS_STD*Matrix<double,3,3>::Identity();
diff --git a/src/body.h b/src/body.h
index 1db9215..a891e92 100644
--- a/src/body.h
+++ b/src/body.h
@@ -5,7 +5,7 @@
 #include "types.h"
 #define R_HEIGHT 2.5e-3            /* measurement noise of height measurement */
 #define ACC_STD 28e-3
-#define ANG_STD 80e-6
+#define ANG_STD 20e-3
 #define ACC_BIAS_STD 22e-3
 #define ANG_BIAS_STD 7e-6
 #define IMU_NOISE 800e-6            /* IMU process noise */
-- 
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