From 76d965ff43013b4de4aef1dfaa7ff4caf4413c2c Mon Sep 17 00:00:00 2001 From: Rune Harlyk Date: Sat, 11 Oct 2025 20:51:02 +0200 Subject: [PATCH] =?UTF-8?q?=F0=9F=8E=A8=20Updates=20defaults=20motion=20sm?= =?UTF-8?q?oothing?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- esp32/include/motion_states/state.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/esp32/include/motion_states/state.h b/esp32/include/motion_states/state.h index 3a9f500..7023ee5 100644 --- a/esp32/include/motion_states/state.h +++ b/esp32/include/motion_states/state.h @@ -8,7 +8,7 @@ class MotionState { virtual const char* name() const = 0; static constexpr const float (&default_feet_pos)[4][4] = KinConfig::default_feet_positions; body_state_t target_body_state; - static constexpr float default_smoothing_factor = 0.06f; + static constexpr float default_smoothing_factor = 0.03f; float omega_offset = 0, psi_offset = 0; void lerpToBody(body_state_t& body_state, const bool imuCompensate = false,