From 4488d440249d6f235b730c5342118ee645a7077b Mon Sep 17 00:00:00 2001
From: Eddy Scott <scott.edward@aurora.aero>
Date: Thu, 13 Aug 2015 17:11:07 -0400
Subject: [PATCH] Added stock variances from nominal flight

---
 src/uas/UAS.cc | 28 +++++++++++++++-------------
 1 file changed, 15 insertions(+), 13 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 062881f7e..780bc8db5 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -147,19 +147,21 @@ UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
     receivedMode(false),
 
     // Initialize HIL sensor noise variances to 0.  If user wants corrupted sensor values they will need to set them
-    xacc_var(0.0),
-    yacc_var(0.0),
-    zacc_var(0.0),
-    rollspeed_var(0.0),
-    pitchspeed_var(0.0),
-    yawspeed_var(0.0),
-    xmag_var(0.0),
-    ymag_var(0.0),
-    zmag_var(0.0),
-    abs_pressure_var(0.0),
-    diff_pressure_var(0.0),
-    pressure_alt_var(0.0),
-    temperature_var(0.0),
+    // Note variances calculated from flight case from this log: http://dash.oznet.ch/view/MRjW8NUNYQSuSZkbn8dEjY
+    // TODO: calibrate stand-still pixhawk variances
+    xacc_var(1.2914),
+    yacc_var(0.7048),
+    zacc_var(1.9577),
+    rollspeed_var(0.8126),
+    pitchspeed_var(0.6145),
+    yawspeed_var(0.5852),
+    xmag_var(0.4786),
+    ymag_var(0.4566),
+    zmag_var(0.3333),
+    abs_pressure_var(1.1604),
+    diff_pressure_var(1.1604),
+    pressure_alt_var(1.1604),
+    temperature_var(1.4290),
 
 #ifndef __mobile__
     simulation(0),
-- 
2.22.0