Change acceleration covariance

Pitt-RAS · Mar 30, 2017 · d6b6fab · d6b6fab
1 parent 2705197
commit d6b6fab
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/include/iarc7_fc_comms/CommonConf.hpp b/include/iarc7_fc_comms/CommonConf.hpp
@@ -44,7 +44,7 @@ struct CommonConf
     static constexpr const char* kTfChildName{"quad"};
 
     // Variance of acceleration measurements (in m/2^2)
-    static constexpr const double kAccelerationVariance[3] = {1, 1, 1};
+    static constexpr const double kAccelerationVariance[3] = {0.05, 0.05, 0.05};
 };
 
 } // namespace FcComms

diff --git a/include/iarc7_fc_comms/CommonFcComms.hpp b/include/iarc7_fc_comms/CommonFcComms.hpp
@@ -543,8 +543,8 @@ void CommonFcComms<T>::sendAccelerations(double (&accelerations)[3])
   imu.orientation_covariance[0] = -1;
   imu.angular_velocity_covariance[0] = -1;
   imu.linear_acceleration_covariance[0] = CommonConf::kAccelerationVariance[0];
-  imu.linear_acceleration_covariance[3] = CommonConf::kAccelerationVariance[1];
-  imu.linear_acceleration_covariance[6] = CommonConf::kAccelerationVariance[2];
+  imu.linear_acceleration_covariance[4] = CommonConf::kAccelerationVariance[1];
+  imu.linear_acceleration_covariance[8] = CommonConf::kAccelerationVariance[2];
 
   imu_publisher.publish(imu);
 }