altb_pmic / Mbed 2 deprecated Test_ekf

Testing ekf implementation for Quadro_1.

Dependencies:   mbed Eigen

Diff: EKF_RPY.cpp

Revision:
9:be2e1d2f683d
Parent:
8:a72cd6356bab
Child:
12:180e09c4ea26
diff -r a72cd6356bab -r be2e1d2f683d EKF_RPY.cpp
--- a/EKF_RPY.cpp	Sun Oct 20 14:16:34 2019 +0000
+++ b/EKF_RPY.cpp	Sun Oct 20 16:30:34 2019 +0000
@@ -7,10 +7,10 @@
 {
     this->Ts = Ts;
     /* [n_gyro; n_v; n_b_g] */
-    var_fx << 0.1f, 0.1f, 0.1f, 0.001f, 0.001f, 0.002f, 0.002f, 0.002f;
+    var_fx << 0.01f, 0.01f, 0.01f, 0.0001f, 0.0001f, 0.0001f, 0.0001f, 0.0001f;
     /* [n_acc; n_mag] */
-    var_gy << 40.0f, 40.0f, 0.1f, 0.1f;
-    rho = 5.0f;
+    var_gy << 45.0f, 45.0f, 0.1f, 0.1f;
+    rho = 0.5f;
     kv = 0.5f;       /* k1/m */
     g = 9.81f;
     m0 << mx0, my0, mz0;