From 862b5276b311cc6fea642b99b5e18b4359f98c45 Mon Sep 17 00:00:00 2001
From: Pitt RAS IARC Team <ras@pitt.edu>
Date: Tue, 22 May 2018 16:09:37 -0400
Subject: [PATCH] Tune of the variance on the accelerometer and increase update
 rate

---
 include/iarc7_fc_comms/CommonConf.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/iarc7_fc_comms/CommonConf.hpp b/include/iarc7_fc_comms/CommonConf.hpp
index 5b95c3f..98aa959 100644
--- 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