From 63f4c4072da9f52f41bfa1cae30e89de751ce530 Mon Sep 17 00:00:00 2001 From: joanvallve <jvallve@iri.upc.edu> Date: Fri, 28 May 2021 07:57:32 +0200 Subject: [PATCH] magnetic field --- yaml/M600a/sensor_bno_compass.yaml | 2 +- yaml/M600b/sensor_bno_compass.yaml | 2 +- yaml/atlantic/sensor_bno_compass.yaml | 2 +- yaml/magnetic_field.yaml | 4 +++- 4 files changed, 6 insertions(+), 4 deletions(-) diff --git a/yaml/M600a/sensor_bno_compass.yaml b/yaml/M600a/sensor_bno_compass.yaml index 5fa032c..8ff812f 100644 --- a/yaml/M600a/sensor_bno_compass.yaml +++ b/yaml/M600a/sensor_bno_compass.yaml @@ -8,5 +8,5 @@ follow: "../magnetic_field.yaml" # calibration bias_prior_mode: "factor" -bias_prior_state: [0, 0, 0] +bias_prior_state: [-14.1013377658, 4.9964863248, 38.723155555] bias_prior_sigma: [0.3, 0.3, 0.3] \ No newline at end of file diff --git a/yaml/M600b/sensor_bno_compass.yaml b/yaml/M600b/sensor_bno_compass.yaml index 5fa032c..8ff812f 100644 --- a/yaml/M600b/sensor_bno_compass.yaml +++ b/yaml/M600b/sensor_bno_compass.yaml @@ -8,5 +8,5 @@ follow: "../magnetic_field.yaml" # calibration bias_prior_mode: "factor" -bias_prior_state: [0, 0, 0] +bias_prior_state: [-14.1013377658, 4.9964863248, 38.723155555] bias_prior_sigma: [0.3, 0.3, 0.3] \ No newline at end of file diff --git a/yaml/atlantic/sensor_bno_compass.yaml b/yaml/atlantic/sensor_bno_compass.yaml index 5fa032c..8ff812f 100644 --- a/yaml/atlantic/sensor_bno_compass.yaml +++ b/yaml/atlantic/sensor_bno_compass.yaml @@ -8,5 +8,5 @@ follow: "../magnetic_field.yaml" # calibration bias_prior_mode: "factor" -bias_prior_state: [0, 0, 0] +bias_prior_state: [-14.1013377658, 4.9964863248, 38.723155555] bias_prior_sigma: [0.3, 0.3, 0.3] \ No newline at end of file diff --git a/yaml/magnetic_field.yaml b/yaml/magnetic_field.yaml index f5e309e..a1f82d8 100644 --- a/yaml/magnetic_field.yaml +++ b/yaml/magnetic_field.yaml @@ -2,5 +2,7 @@ # N: 26,943.4 nT E: 43.1 nT D: 34,827.0 nT # E: 0.0431 uT N: 26.9 uT U: -34.8 uT field_prior_mode: "fix" -field_prior_state: [0.0431, 26.9, -34.8] # measured [7.9, -20.2, -58.8] +#field_prior_state: [0.0431, 26.9, -34.8] +# computed from measurements: +field_prior_state: [-17.2, 71.8, 4.5] #field_prior_sigma: [10, 10, 10] \ No newline at end of file -- GitLab