q_acc_noise:0.8 q_gyro_noise:0.00015 r_pos:0.002,0.006,0.001 r_theta:0.0001,0.0001,0.00002 r_vel:0.04,0.005,0.001 p_pos:0.001 p_vel:0.0001 p_dtheta:0.00005