diff --git a/src/processor_IMU.cpp b/src/processor_IMU.cpp index 1010aa8ba6500bbacebfdf41479b489809f42194..b826b6d191ec02f57d4068aee97458252602775c 100644 --- a/src/processor_IMU.cpp +++ b/src/processor_IMU.cpp @@ -9,7 +9,6 @@ ProcessorIMU::ProcessorIMU(const ProcessorParamsIMU& _params) : max_buff_length_(_params.max_buff_length ), dist_traveled_ (_params.dist_traveled ), angle_turned_ (_params.angle_turned ), - voting_active_ (_params.voting_active ) { // Set constant parts of Jacobians jacobian_delta_preint_.setIdentity(9,9); // dDp'/dDp, dDv'/dDv, all zeros diff --git a/src/processors/processor_diff_drive.cpp b/src/processors/processor_diff_drive.cpp index 8031040ce0b184d9c300143897925141140e5e3a..b6d57d918fc0c01cafc646146fc401d63d48d0d3 100644 --- a/src/processors/processor_diff_drive.cpp +++ b/src/processors/processor_diff_drive.cpp @@ -13,7 +13,7 @@ namespace wolf { ProcessorDiffDrive::ProcessorDiffDrive(const ProcessorParamsDiffDrive ¶ms) : - ProcessorMotion("DIFF DRIVE", 3, 3, 3, 2, 3, 0.15), + ProcessorMotion("DIFF DRIVE", 0.15, 3, 3, 3, 2, 3), unmeasured_perturbation_cov_(Matrix3s::Identity()* params.unmeasured_perturbation_std_* params.unmeasured_perturbation_std_),