From c59e8356ee1634c53be33c197c5e3732c4a3ffb0 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 8 Jun 2021 19:09:58 +0200
Subject: [PATCH] Updated the EKF configuration file. The IMU active variables
are with respect to the sensor frame.
---
config/ana_local_ekf.yaml | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/config/ana_local_ekf.yaml b/config/ana_local_ekf.yaml
index 09d0fd5..c779e2f 100644
--- a/config/ana_local_ekf.yaml
+++ b/config/ana_local_ekf.yaml
@@ -23,14 +23,14 @@ odom0_config: [false, false, false,
imu0: /ana/sensors/imu
imu0_config: [false, false, false,
- false, false, true,
+ true, false, false,
false, false, false,
- false, false, true,
- false, false, false]
+ true, false, false,
+ false, false, false]
imu0_differential: false
imu0_relative: true
-imu0_remove_gravitational_acceleration: true
+imu0_remove_gravitational_acceleration: false
#meaning_config: [x, y, z,
# roll, pitch, yaw,
--
GitLab