Tune.

config.yaml

@@ -33,26 +33,26 @@ camera_expo: 1
 camera_gain: 0.22
 enable_face_spd_est: true
 inp_bound_x: 0.30700000000000005
-inp_bound_y: 0.253
+inp_bound_y: 0.11800000000000001
 inp_bound_z: 0.30700000000000005
-out_bound_x: 0.60099999999999998
+out_bound_x: 0.76899999999999991
 out_bound_y: 0.73399999999999999
-out_bound_z: 0.60099999999999998
+out_bound_z: 0.75499999999999989
 expo_trans_x: 0
 expo_trans_y: 0
 expo_trans_z: 0
 inp_bound_roll: 44.649999999999999
-inp_bound_pitch: 20.850000000000001
-inp_bound_yaw: 24.699999999999999
-out_bound_roll: 178.5
-out_bound_pitch: 178.5
+inp_bound_pitch: 15.949999999999999
+inp_bound_yaw: 25.75
+out_bound_roll: 43.5
+out_bound_pitch: 103.5
 out_bound_yaw: 178.5
-expo_eul_roll: 0.37
-expo_eul_pitch: 0.34999999999999998
-expo_eul_yaw: 0.28000000000000003
+expo_eul_roll: 0
+expo_eul_pitch: 0
+expo_eul_yaw: 0.20999999999999999
 use_accela: true
-accela_rot_smoothing: 0.029000000000000005
-accela_rot_deadzone: 1.0266000000000002
+accela_rot_smoothing: 0.08539999999999999
+accela_rot_deadzone: 2.9701
 accela_pos_smoothing: 0.029000000000000005
 accela_pos_deadzone: 0.029999999999999999
-double_accela: true
+double_accela: false

inc/filterconfig.h

@@ -21,10 +21,10 @@ class FilterConfig : public QWidget
     Q_OBJECT
 
     double rot_smooth_min = 0.01;
-    double rot_smooth_max = 2.5;
+    double rot_smooth_max = 0.3;
 
     double rot_deadzone_min = 0.01;
-    double rot_deadzone_max = 0.3;
+    double rot_deadzone_max = 3.0;
 
     double trans_smooth_min = 0.01;
     double trans_smooth_max = 0.2;

src/poseremapper.cpp

@@ -53,7 +53,6 @@ void PoseRemapper::pose_callback_loop() {
         double t = QDateTime::currentMSecsSinceEpoch()/1000.0 - t0;
         double dt = t - t_last;
         t_last = t;
-
         Eigen::Vector3d eul, T;
         if (settings->use_accela) {
             auto ret = _accela.filter(eul_last, T_last, dt);