Commit af85cb3a authored by asantamaria's avatar asantamaria

From hummingbird. tunning.

parent c2241887
# Frame names
odom_frame_id: odom
robot_frame_id: base_link
# Initial STD of Error-State values (filter)
dp0_std: [0.0, 0.0, 0.05]
dv0_std: [0.0, 0.0, 0.0]
dtheta0_std: [0.05, 0.05, 0.0]
dab0_std: [0.0196, 0.0196, 0.0196]
dwb0_std: [0.0037, 0.0040, 0.0]
dg0_std: [0.0, 0.0, 0.0]
dpo0_std: [0.0, 0.0, 0.0]
dthetao0_std: [0.0, 0.0, 0.0]
dpr0_std: [0.0, 0.0, 0.0]
dthetar0_std: [0.0, 0.0, 0.0]
frame: global # Frame r.t. orientation derivation is computed (global or local)
#IMU pose`
imu_z_up: true
#IMU STD values
imu_a_std: [0.2,0.2,0.2]
imu_w_std: [0.005,0.005,0.005]
imu_ab_std: [0.0,0.0,0.0]
imu_wb_std: [0.0,0.0,0.0]
imu_method: discrete #Sets the data time nature (continous: simulated IMU or discrete: IMU sensor).
# Position STD values
position_std_outsidebounds: [10.0,10.0,10.0]
position_std_insidebounds: [0.01,0.01,0.01]
# Orientation STD values
orientation_std_outsidebounds: [10.0,10.0,10.0]
orientation_std_insidebounds: [0.01,0.01,0.01]
# Linear velocity STD values
linvel_std_outsidebounds: [10.0,10.0,10.0]
linvel_std_insidebounds: [0.01,0.01,0.01]
# Range STD values
range_std_outsidebounds: 10.0
range_std_insidebounds: 0.01
range_min: 0.31
range_max: 4.0
using_laser_range: true
# PX4 STD values
px4_std_outsidebounds: [10.0,10.0,10.0]
px4_std_insidebounds: [0.01,0.15,0.15]
using_laser_px4: true
# Flow2d STD values
flow2d_std_outsidebounds: [10.0,10.0]
flow2d_std_insidebounds: [0.15,0.15]
# focal_length in pixels
flow2d_focal_length: 73
# Initial Nominal-State vector (p,v,q,ab,wb,g)
xstate0: [0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.0005,-0.0026,-0.0004,0.0,0.0,-9.803057,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0]
# Initial Error-State vector (dp,dv,dtheta,dab,dwb,dg)
dxstate0: [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
......@@ -529,7 +529,7 @@ void EskfOdomAlgNode::set_px4_reading(const px_comm::OpticalFlow::ConstPtr& msg,
// // this->alg_.set_px4_params(px4_params);
// // }
// this->alg_.set_px4_reading(msg_time, val, flow); // Set values into filter object
//this->alg_.set_px4_reading(msg_time, val, flow); // Set values into filter object
//*****************************
// USING RANGE AND RAW FLOW
......
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