From 58c3331b8e6c752aaf02e5c32db6e5959d3c7242 Mon Sep 17 00:00:00 2001 From: Mikhail Grushinskiy Date: Sat, 31 Aug 2024 12:02:25 -0400 Subject: [PATCH] Update bbn_wave_freq_m5atomS3.ino --- bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino b/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino index 8cebbd4..626343f 100644 --- a/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino +++ b/bbn_wave_freq_m5atomS3/bbn_wave_freq_m5atomS3.ino @@ -254,7 +254,11 @@ void setup(void) { aranovskiy_default_params(¶ms, omega_up, k_gain); aranovskiy_init_state(&state, t_0, x1_0, theta_0, sigma_0); - kalman_smoother_init(&kalman, 0.003, 10.0, 100.0); + + double process_noise_covariance = 0.003; + double measurement_uncertainty = 10.0; + double estimation_uncertainty = 100.0; + kalman_smoother_init(&kalman, process_noise_covariance, measurement_uncertainty, estimation_uncertainty); last_update = micros(); }