needed for stability
parent
fcf879d783
commit
00e05bc7d8
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@ -168,7 +168,7 @@ class LiveKalman():
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h_acc_sym = (gravity + acceleration)
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h_phone_rot_sym = sp.Matrix([vroll, vpitch, vyaw])
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speed = sp.sqrt(vx**2 + vy**2 + vz**2)
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speed = sp.sqrt(vx**2 + vy**2 + vz**2 + 1e-6)
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h_speed_sym = sp.Matrix([speed * odo_scale])
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h_pos_sym = sp.Matrix([x, y, z])
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