HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

Diff: ScErrStateEKF.cpp

Revision:
37:7873fe37b425
Parent:
32:321a756e12ad
--- a/ScErrStateEKF.cpp	Wed Sep 29 06:32:38 2021 +0000
+++ b/ScErrStateEKF.cpp	Wed Sep 29 13:28:21 2021 +0000
@@ -16,7 +16,7 @@
     setDiag(Phat,0.1f);
     setDiag(Phatbg,0.1f);
     setQqerr(0.000005f);
-    setQgbias(0.001f);
+    setQgbias(0.0f);
     setQabias(0.00001f);
     setQv(0.0001f);
     
@@ -25,7 +25,7 @@
     setDiag(Qab,10.0f);
     
     //ジャイロバイアスに関する制約
-    setDiag(Rgsc,500.0f);
+    setDiag(Rgsc,10.0f);
     
     setDiag(Rm,5.0f);