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update: ekf params

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Björn Ellensohn 2023-07-26 12:32:51 +02:00
parent 3b12f4e289
commit a82781dbf0
1 changed files with 5 additions and 2 deletions
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7
config/ekf.yaml
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@ -35,12 +35,13 @@ ekf_filter_node:
odom0: /odom odom0: /odom
# The order of the values of this parameter is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. # The order of the values of this parameter is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az.
# Configure it for x,y,z,vyaw on the odom topic # Configure it for x,y,z,vyaw on the odom topic
odom0_config: [true , true , true, odom0_config: [true , true , false,
false, false, true, false, false, true,
false, false, false, false, false, false,
false, false, true, false, false, true,
false, false, false] false, false, false]
odom0_differential: true
odom0_relative: true
imu0: /imu/data_raw imu0: /imu/data_raw
# The order of the values of this parameter is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az. # The order of the values of this parameter is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az.
@ -51,6 +52,8 @@ ekf_filter_node:
false, false, false, false, false, false,
false, false, true, false, false, true,
false, false, false] false, false, false]
imu0_differential: true
imu0_relative: true
# [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set # [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set
# this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame. # this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame.