Diff: kalman.h

Revision:

9:4e94a16ca90c

Parent:

8:dc48ce79ad59

--- a/kalman.h	Wed Jan 21 16:30:33 2015 +0000
+++ b/kalman.h	Thu Jan 29 14:17:43 2015 +0000
@@ -16,13 +16,13 @@
 //#define DT 0.002472 //klaman2 + filtr dolno x2
 //#define DT 0.00223 //klaman2 + filtr dolno x2 bez kompl
 //  Q matrix elements
-#define Q1 0.2f            //5  //10
-#define Q2 2.0f      //80       //120
-#define Q3 0.01f
+#define Q1 0.2f //0.2f            //5  //10
+#define Q2 2.0f //2.0f      //80       //120
+#define Q3 0.01 //0.01f
 
 // R matrix elements
-#define R1 500.0f  //900.0f       //90      //tu duzo   //10000  //500
-#define R2 600.0f  //1500.0f      //150      //tu mniej  //12000  //600
+#define R1 120    //500.0f  //900.0f       //90      //tu duzo   //10000  //500
+#define R2 150  //600.0f  //1500.0f      //150      //tu mniej  //12000  //600
 
 struct _kalman_data
 {