From 5def63fbd75ae440dc14fbd1be8bb08dc4e47364 Mon Sep 17 00:00:00 2001 From: Rene Hopf Date: Thu, 2 Oct 2014 00:00:03 +0200 Subject: [PATCH] kalman var --- src/pid.c | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/pid.c b/src/pid.c index fce1246a..d6ef9e7e 100644 --- a/src/pid.c +++ b/src/pid.c @@ -246,11 +246,11 @@ void kal_init(kalman_context_t *k){ k->k = 1; k->r = 1; - k->res_var = 0.1; - k->pos_var = 0.1; - k->vel_var = 0.1; - k->acc_var = 0.1; - k->cur_var = 0.1; + k->res_var = 0.01; + k->pos_var = 0.01; + k->vel_var = 0.01; + k->acc_var = 0.01; + k->cur_var = 0.01; k->res = 0; k->pos = 0;