Diff: Processes/Kalman/Kalman.cpp

Revision:

79:0d3140048526

Parent:

72:7996aa8286ae

Child:

85:b0858346d838

--- a/Processes/Kalman/Kalman.cpp	Mon Apr 15 15:29:40 2013 +0000
+++ b/Processes/Kalman/Kalman.cpp	Mon Apr 15 17:06:46 2013 +0000
@@ -140,8 +140,8 @@
 
     P = 0.02*0.02,  0,          0,          0,
         0,          0.02*0.02,  0,          0,
-        0,          0,          0.4*0.4,    -0.4*0.4,
-        0,          0,          -0.4*0.4,   0.4*0.4 + 0.05*0.05;
+        0,          0,          0.1*0.1,    -0.1*0.1,
+        0,          0,          -0.1*0.1,   0.1*0.1 + 0.05*0.05;
         
     statelock.unlock();
 
@@ -386,7 +386,7 @@
                 }
 
                 Matrix<float, 4, 1> PHt (P * trans(H));
-                S = (H * PHt)(0,0) + variance*10; //TODO: Temp Hack!
+                S = (H * PHt)(0,0) + variance*4; //TODO: Temp Hack!
 
                 OLED3 = 0;
                 if (aborton2stddev && Y*Y > 4 * S) {