filter/kalman: deadzone adjustment and parameter tuning

1 files changed, 1 insertions, 2 deletions

diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h
index cb3041ea..57eb8e97 100644
--- a/filter-kalman/kalman.h
+++ b/filter-kalman/kalman.h
@@ -93,7 +93,6 @@ struct settings : opts {
     static constexpr double adaptivity_window_length = 0.5; // seconds
     static constexpr double deadzone_scale = 2.;
     static constexpr double deadzone_exponent = 4.0;
-    // these values worked best for me (MW) when taken with acompanying measured noise stddev of ca 0.1 (rot) and 0.01 (pos).
     static constexpr double process_sigma_pos = 0.5;
     static constexpr double process_simga_rot = 0.5;
 
@@ -127,7 +126,7 @@ public:
     settings s;
     KalmanFilter kf;
     KalmanProcessNoiseScaler kf_adaptive_process_noise_cov;
-    PoseVector minimal_state_var;
+    //PoseVector minimal_state_var;
     DeadzoneFilter dz_filter;
     slider_value prev_slider_pos[2];