Commit 0e8133fb authored by asantamaria's avatar asantamaria

typos and sensor var names matched

parent c4530fe8
......@@ -22,14 +22,11 @@ imu_method: discrete #Sets the data time nature (continous: simulated IMU or dis
px4_std_outsidebounds: [10.0,10.0,10.0]
px4_std_insidebounds: [0.01,0.15,0.15]
# Range STD values
range_std_landed: 0.1
range_std_outsidebounds: 10.0
range_std_insidebounds: 0.01
# Flow2d STD values
flow2d_std_landed: [0.001,0.001]
flow2d_std_outsidebounds: [10.0,10.0]
flow2d_std_insidebounds: [0.15,0.15]
flow2d_focal_length: 0.016
......
......@@ -100,21 +100,18 @@ void EskfOdomAlgNode::read_and_set_ini_params(void)
// Range STD values
Sensor::range_params range_params;
double std_landed, std_outsidebounds, std_insidebounds;
this->public_node_handle_.param<double>("range_std_landed", std_landed, 0.1);
double std_outsidebounds, std_insidebounds;
this->public_node_handle_.param<double>("range_std_outsidebounds", std_outsidebounds, 10.0);
this->public_node_handle_.param<double>("range_std_insidebounds", std_insidebounds, 0.01);
range_params.std_landed = static_cast<float>(std_landed);
range_params.std_outsidebounds = static_cast<float>(std_outsidebounds);
range_params.std_insidebounds = static_cast<float>(std_insidebounds);
range_params.std = range_params.std_landed; // Considering initially landed
range_params.std = range_params.std_outsidebounds; // Considering initially landed
// Flow2d STD values
Sensor::flow2d_params flow2d_params;
flow2d_params.std_landed = read_vec("flow2d_std_landed", 2);
flow2d_params.std_outsidebounds = read_vec("flow2d_std_outsidebounds", 2);
flow2d_params.std_insidebounds = read_vec("flow2d_std_insidebounds", 2);
flow2d_params.std = flow2d_params.std_landed; // Considering initially landed
flow2d_params.std = flow2d_params.std_outsidebounds; // Considering initially landed
double focal_length;
this->public_node_handle_.param<double>("flow2d_focal_length", focal_length, 0.016);
flow2d_params.focal_length = static_cast<float>(focal_length);
......
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