altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

Diff: EKF_RP.cpp

Revision:
29:cd963a6d31c5
Parent:
23:71996bfe68eb
--- a/EKF_RP.cpp	Mon Jan 20 12:41:13 2020 +0000
+++ b/EKF_RP.cpp	Mon Jan 27 09:23:58 2020 +0000
@@ -11,7 +11,8 @@
     /* [n_acc] */
     var_gy << 40.0f, 40.0f;
     rho = 1.0f;
-    kv = 0.5f;       /* k1/m */
+    // kv = 0.5f;       /* QK3 k1/m */
+    kv = 0.26f;       /* QK4 k1/m */
     g = 9.81f;
     scale_P0 = 1000.0f;
     reset();