From 9567691321dd42c400a92baf1e56eff8fbbb357d Mon Sep 17 00:00:00 2001
From: Davide Basso <davide.basso@skywarder.eu>
Date: Sat, 12 Apr 2025 15:23:37 +0200
Subject: [PATCH] [Parafoil] Change NAS config

---
 src/MockupMain/Configs/NASConfig.h | 30 +++++++++++++++---------------
 src/Parafoil/Configs/NASConfig.h   | 30 +++++++++++++++---------------
 2 files changed, 30 insertions(+), 30 deletions(-)

diff --git a/src/MockupMain/Configs/NASConfig.h b/src/MockupMain/Configs/NASConfig.h
index 09d9239c7..7009a2e45 100644
--- a/src/MockupMain/Configs/NASConfig.h
+++ b/src/MockupMain/Configs/NASConfig.h
@@ -47,22 +47,22 @@ constexpr auto CALIBRATION_SLEEP_TIME   = 100_ms;
 
 static const Boardcore::NASConfig CONFIG = {
     .T              = UPDATE_RATE_SECONDS.value(),
-    .SIGMA_BETA     = 0.0001,
-    .SIGMA_W        = 0.0019,
-    .SIGMA_ACC      = 0.202,
-    .SIGMA_MAG      = 0.0047,
+    .SIGMA_BETA     = 0.0001f,
+    .SIGMA_W        = 0.3f,
+    .SIGMA_ACC      = 0.1f,
+    .SIGMA_MAG      = 0.1f,
     .SIGMA_GPS      = {0.0447f, 0.0447f, 1.0f / 30.0f, 1.0f / 30.0f},
-    .SIGMA_BAR      = 4.5097f,
-    .SIGMA_POS      = 2.0,
-    .SIGMA_VEL      = 1.0,
-    .SIGMA_PITOT    = 1e-3,
-    .P_POS          = 0.0,
-    .P_POS_VERTICAL = 0.0,
-    .P_VEL          = 0.0,
-    .P_VEL_VERTICAL = 0.0,
-    .P_ATT          = 0.1,
-    .P_BIAS         = 0.01,
-    .SATS_NUM       = 6.0,
+    .SIGMA_BAR      = 4.3f,
+    .SIGMA_POS      = 10.0f,
+    .SIGMA_VEL      = 10.0f,
+    .SIGMA_PITOT    = 10.0f,
+    .P_POS          = 1.0f,
+    .P_POS_VERTICAL = 10.0f,
+    .P_VEL          = 1.0f,
+    .P_VEL_VERTICAL = 10.0f,
+    .P_ATT          = 0.01f,
+    .P_BIAS         = 0.01f,
+    .SATS_NUM       = 6.0f,
     .NED_MAG        = Common::ReferenceConfig::nedMag};
 
 // Only use one out of every 50 samples (1 Hz)
diff --git a/src/Parafoil/Configs/NASConfig.h b/src/Parafoil/Configs/NASConfig.h
index 33f5d1492..f9629fb1a 100644
--- a/src/Parafoil/Configs/NASConfig.h
+++ b/src/Parafoil/Configs/NASConfig.h
@@ -47,22 +47,22 @@ constexpr auto CALIBRATION_SLEEP_TIME   = 100_ms;
 
 static const Boardcore::NASConfig CONFIG = {
     .T              = UPDATE_RATE_SECONDS.value(),
-    .SIGMA_BETA     = 0.0001,
-    .SIGMA_W        = 0.0019,
-    .SIGMA_ACC      = 0.202,
-    .SIGMA_MAG      = 0.0047,
+    .SIGMA_BETA     = 0.0001f,
+    .SIGMA_W        = 0.3f,
+    .SIGMA_ACC      = 0.1f,
+    .SIGMA_MAG      = 0.1f,
     .SIGMA_GPS      = {0.0447f, 0.0447f, 1.0f / 30.0f, 1.0f / 30.0f},
-    .SIGMA_BAR      = 4.5097f,
-    .SIGMA_POS      = 2.0,
-    .SIGMA_VEL      = 1.0,
-    .SIGMA_PITOT    = 1e-3,
-    .P_POS          = 0.0,
-    .P_POS_VERTICAL = 0.0,
-    .P_VEL          = 0.0,
-    .P_VEL_VERTICAL = 0.0,
-    .P_ATT          = 0.1,
-    .P_BIAS         = 0.01,
-    .SATS_NUM       = 6.0,
+    .SIGMA_BAR      = 4.3f,
+    .SIGMA_POS      = 10.0f,
+    .SIGMA_VEL      = 10.0f,
+    .SIGMA_PITOT    = 10.0f,
+    .P_POS          = 1.0f,
+    .P_POS_VERTICAL = 10.0f,
+    .P_VEL          = 1.0f,
+    .P_VEL_VERTICAL = 10.0f,
+    .P_ATT          = 0.01f,
+    .P_BIAS         = 0.01f,
+    .SATS_NUM       = 6.0f,
     .NED_MAG        = Common::ReferenceConfig::nedMag};
 
 // Only use one out of every 50 samples (1 Hz)
-- 
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