Changed default IMU variance
@@ -617,7 +617,7 @@ STATIC_CONFIG_ITEM(OBS_POS_VARIANCE, "obs-pos-variance", 'f', "Variance of posit
STATIC_CONFIG_ITEM(OBS_ROT_VARIANCE, "obs-rot-variance", 'f', "Variance of rotation integration from light capture",
.01)
-STATIC_CONFIG_ITEM(IMU_ACC_VARIANCE, "imu-acc-variance", 'f', "Variance of accelerometer", 5e-5)
+STATIC_CONFIG_ITEM(IMU_ACC_VARIANCE, "imu-acc-variance", 'f', "Variance of accelerometer", 1e-3)
STATIC_CONFIG_ITEM(IMU_GYRO_VARIANCE, "imu-gyro-variance", 'f', "Variance of gyroscope", 1e-2)
STATIC_CONFIG_ITEM(USE_IMU, "use-imu", 'i', "Use the IMU as part of the pose solver", 1)
