AHRS
Dependencies: Eigen
Diff: EKF_RPY.cpp
- Revision:
- 29:cd963a6d31c5
- Parent:
- 23:71996bfe68eb
--- a/EKF_RPY.cpp Mon Jan 20 12:41:13 2020 +0000 +++ b/EKF_RPY.cpp Mon Jan 27 09:23:58 2020 +0000 @@ -27,7 +27,8 @@ /* [n_acc; n_mag] */ var_gy << 40.0f, 40.0f, 1.0f, 1.0f; 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; }