From 56a25a83c1c723d3491c3f2cff2cddb9f944ee95 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 8 Jun 2021 19:06:51 +0200
Subject: [PATCH] Updated the IMU configuration files with the covariance
 values.

---
 config/bno055_default_config.yaml | 3 +++
 config/bno055_ndof_config.yaml    | 4 ++++
 2 files changed, 7 insertions(+)

diff --git a/config/bno055_default_config.yaml b/config/bno055_default_config.yaml
index 41f4e10..8e69b89 100644
--- a/config/bno055_default_config.yaml
+++ b/config/bno055_default_config.yaml
@@ -76,3 +76,6 @@ mag_op_mode: 1
 # 64 -> "Suspend"
 # 96 -> "Force mode"
 mag_pwr_mode: 0
+orientation_cov: 0.001
+angular_velocity_cov: 0.001
+linear_acceleration_cov: 0.001
diff --git a/config/bno055_ndof_config.yaml b/config/bno055_ndof_config.yaml
index 438b3b7..b4f3b34 100644
--- a/config/bno055_ndof_config.yaml
+++ b/config/bno055_ndof_config.yaml
@@ -76,3 +76,7 @@ mag_op_mode: 1
 # 64 -> "Suspend"
 # 96 -> "Force mode"
 mag_pwr_mode: 0
+orientation_cov: 0.001
+angular_velocity_cov: 0.001
+linear_acceleration_cov: 0.001
+
-- 
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