Diff: EKF_RPY.cpp

Revision:

21:aab1ac72095b

Parent:

20:0227c82a78c2

Child:

22:4148af9e3d81

diff -r 0227c82a78c2 -r aab1ac72095b EKF_RPY.cpp
--- a/EKF_RPY.cpp	Mon Oct 28 12:14:59 2019 +0000
+++ b/EKF_RPY.cpp	Mon Jan 06 10:20:10 2020 +0000
@@ -29,7 +29,7 @@
     rho = 1.0f;
     kv = 0.5f;       /* k1/m */
     g = 9.81f;
-    scale_P0 = 1000000.0f;
+    scale_P0 = 1000.0f;
 }
 
 void EKF_RPY::reset()
@@ -63,11 +63,11 @@
     /* x = [ang; v; b_g] = [0: phi
                             1: theta
                             2: psi
-                            3: b_gx
-                            4: b_gy
-                            5: b_gz
-                            6: vx
-                            7: vy] */
+                            3: vx
+                            4: vy
+                            5: b_gx
+                            6: b_gy
+                            7: b_gz] */
     return x(i);
 }