-nickle kalman.5c -p AO_ACCEL -c accel -t 0.01 $SIGMA
-nickle kalman.5c -p AO_ACCEL -c accel -t 0.1 $SIGMA
-
-nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA
-nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA
+nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA_BARO
+nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA_BARO