From 7c68de26d28bad54d0a86b1eb633092eef270bf5 Mon Sep 17 00:00:00 2001
From: meggert <eggertm@irs.uni-stuttgart.de>
Date: Wed, 15 Feb 2023 11:42:00 +0100
Subject: [PATCH] added actual variances for MGM sensor fusion

---
 mission/controller/acs/AcsParameters.h | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/mission/controller/acs/AcsParameters.h b/mission/controller/acs/AcsParameters.h
index b237a0f2..f68b10cf 100644
--- a/mission/controller/acs/AcsParameters.h
+++ b/mission/controller/acs/AcsParameters.h
@@ -73,9 +73,9 @@ class AcsParameters : public HasParametersIF {
                                        {-0.007534, 1.253879, 0.006812},
                                        {-0.037072, 0.006812, 1.313158}};
 
-    float mgm02variance[3] = {1, 1, 1};
-    float mgm13variance[3] = {1, 1, 1};
-    float mgm4variance[3] = {1, 1, 1};
+    float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
+    float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
+    float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
   } mgmHandlingParameters;
 
   struct SusHandlingParameters {