Moved everyting inside px4. reduced robot phases.

launch/params.yaml

@@ -19,9 +19,9 @@ imu_wb_std: [0.0,0.0,0.0]
 imu_method: discrete #Sets the data time nature (continous: simulated IMU or discrete: IMU sensor).
 
 # PX4 STD values
-px4_std_landed: [0.1,0.001,0.001]
-px4_std_below30cm: [10.0,10.0,10.0]
-px4_std_30cmto5m: [0.01,0.15,0.15]
+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
@@ -35,7 +35,7 @@ flow2d_std_insidebounds: [0.15,0.15]
 flow2d_focal_length: 0.016
 
 # Initial Nominal-State vector (p,v,q,ab,wb,g)
-xstate0: [0.0,0.0,0.1,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.0005,-0.0026,-0.0004,0.0,0.0,-9.803057]
+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]
 
 # 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]

src/eskf_odom_alg_node.cpp

@@ -94,10 +94,9 @@ void EskfOdomAlgNode::read_and_set_ini_params(void)
 
 	// PX4 STD values
 	Sensor::px4_params px4_params;
-	px4_params.std_landed = read_vec("px4_std_landed", 3);
-	px4_params.std_below30cm = read_vec("px4_std_below30cm", 3);
-	px4_params.std_30cmto5m = read_vec("px4_std_30cmto5m", 3);
-	px4_params.std = px4_params.std_landed; // Considering initially landed
+  px4_params.std_outsidebounds = read_vec("px4_std_outsidebounds", 3);
+  px4_params.std_insidebounds = read_vec("px4_std_insidebounds", 3);
+  px4_params.std = px4_params.std_outsidebounds;
 
   // Range STD values
   Sensor::range_params range_params;