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EKF: reduce initial accel bias uncertainty

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Paul Riseborough
2016-05-04 14:47:01 +10:00
parent a7d08d08fc
commit 7a74d58591
1 changed files with 1 additions and 1 deletions
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EKF/covariance.cpp
+1 -1
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@@ -85,7 +85,7 @@ void Ekf::initialiseCovariance()
P[12][12] = P[10][10];
// accel bias
P[13][13] = sq(0.2f * dt);
P[13][13] = sq(0.1f * dt);
P[14][14] = P[13][13];
P[15][15] = P[13][13];