From 6eba7a9e41ca3e5fac9c3b5feb74af9f37774987 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Thu, 28 Mar 2013 12:47:47 +0100
Subject: Fix gyro measurement noise variance

---
 apps/examples/kalman_demo/params.c | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

(limited to 'apps')

diff --git a/apps/examples/kalman_demo/params.c b/apps/examples/kalman_demo/params.c
index 91e80a5ea..50642f067 100644
--- a/apps/examples/kalman_demo/params.c
+++ b/apps/examples/kalman_demo/params.c
@@ -1,7 +1,7 @@
 #include <systemlib/param/param.h>
 
 /*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
-PARAM_DEFINE_FLOAT(KF_V_GYRO, 1.0f);
+PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f);
 PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
 PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f);
 PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f);
@@ -14,4 +14,3 @@ PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);
 PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f);
 PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f);
 PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f);
-
-- 
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