From c39f344dcf30b4ac56d15d625e4e80665ea32221 Mon Sep 17 00:00:00 2001 From: Alireza Ghaderi Date: Wed, 28 Aug 2024 06:48:55 +0000 Subject: [PATCH] increased filter flexibility --- src/ConfigManager.cpp | 2 +- src/MAVLinkManager.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/ConfigManager.cpp b/src/ConfigManager.cpp index f769762..3d5b8c1 100644 --- a/src/ConfigManager.cpp +++ b/src/ConfigManager.cpp @@ -28,7 +28,7 @@ std::string ConfigManager::configName; * to changes but may be less effective at eliminating noise. The optimal window * size should be chosen based on the specific application and expected noise characteristics. */ -int ConfigManager::MEDIAN_FILTER_WINDOW_SIZE = 5; +int ConfigManager::MEDIAN_FILTER_WINDOW_SIZE = 4; /** * @brief Flag for enabling/disabling velocity filtering. diff --git a/src/MAVLinkManager.cpp b/src/MAVLinkManager.cpp index bebd3d4..a208be7 100644 --- a/src/MAVLinkManager.cpp +++ b/src/MAVLinkManager.cpp @@ -20,7 +20,7 @@ constexpr float GRAVITY = 9.81; // Define and initialize the random number generators and distributions std::random_device MAVLinkManager::rd; std::mt19937 MAVLinkManager::gen(MAVLinkManager::rd()); -std::normal_distribution MAVLinkManager::noiseDistribution(0.0f, 0.00006f); +std::normal_distribution MAVLinkManager::noiseDistribution(0.0f, 0.00007f); std::normal_distribution MAVLinkManager::noiseDistribution_mag(0.0f, 0.00001f);