Update KalmanForWaveAlt.h

bareboat-necessities · Sep 12, 2024 · 2af53d7 · 2af53d7
1 parent 13cafc5
commit 2af53d7
Showing 1 changed file with 5 additions and 5 deletions.
diff --git a/bbn_wave_freq_m5atomS3/KalmanForWaveAlt.h b/bbn_wave_freq_m5atomS3/KalmanForWaveAlt.h
@@ -64,11 +64,11 @@
     a (vertical acceleration), z = 0
 
   Observation matrix:
-  H = [ 1,
-        0, 
-        0,
-        1,
-        0 ]  
+  H = [ 1, 0,
+        0, 0,
+        0, 0,
+        0, 1,
+        0, 0 ]  
 
   F = [[ 1,      T,    1/2*T^2, 1/6*T^3, -1/6*T^3 ],
        [ 0,      1,    T,       1/2*T^2, -1/2*T^2 ],