Merge pull request #67 from Pitt-RAS/accel-var

Tune of the variance on the accelerometer and increase update rate
Pitt-RAS · Jun 5, 2018 · f292196 · f292196
2 parents 5cc1399 + 862b527
commit f292196
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/include/iarc7_fc_comms/CommonConf.hpp b/include/iarc7_fc_comms/CommonConf.hpp
@@ -27,7 +27,7 @@ enum class FcCommsStatus
 
 struct CommonConf
 {
-    static constexpr const float kFcSensorsUpdateRateHz{100};
+    static constexpr const float kFcSensorsUpdateRateHz{200};
 
     static constexpr const double kMaxArmDelay = 0.1;
     static constexpr const double kLandingDetectedStartupTimeout = 5.0;
@@ -45,7 +45,7 @@ struct CommonConf
     static constexpr const char* kTfChildName{"quad"};
 
     // Variance of acceleration measurements (in m/2^2)
-    static constexpr const double kAccelerationVariance[3] = {6.0, 6.0, 6.0};
+    static constexpr const double kAccelerationVariance[3] = {100, 100, 4};
 };
 
 } // namespace FcComms