From 7e40911e52a39d17090bca539e69eeb492f597d7 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Tue, 13 Apr 2021 12:57:24 +0200
Subject: [PATCH] new parameter in processorTrackerGnss
---
yaml/IRI/params.yaml | 4 ++--
yaml/IRI/processor_gnss.yaml | 13 +++++++++++--
yaml/IRI/subscriber_imu.yaml | 4 ++--
yaml/M600a/processor_gnss.yaml | 1 +
yaml/M600b/processor_gnss.yaml | 1 +
yaml/atlantic/processor_gnss.yaml | 1 +
yaml/scrab/processor_gnss.yaml | 1 +
yaml/tucan/processor_gnss.yaml | 1 +
8 files changed, 20 insertions(+), 6 deletions(-)
diff --git a/yaml/IRI/params.yaml b/yaml/IRI/params.yaml
index eed5cde..121adbb 100644
--- a/yaml/IRI/params.yaml
+++ b/yaml/IRI/params.yaml
@@ -9,7 +9,7 @@ config:
frame_structure: "POV"
dimension: 3
tree_manager:
- follow: "../tree_manager/sliding_window_20_0.yaml"
+ follow: "../tree_manager/sliding_window_10_0.yaml"
prior:
#follow: "../prior/POV_factor.yaml"
follow: "../prior/POV_fix.yaml"
@@ -21,7 +21,7 @@ config:
n_threads: 2
update_immediately: true
min_num_iterations: 5 #if update immediately
- compute_cov: true
+ compute_cov: false
cov_enum: 3
cov_period: 1
diff --git a/yaml/IRI/processor_gnss.yaml b/yaml/IRI/processor_gnss.yaml
index 6fa1d27..6aea894 100644
--- a/yaml/IRI/processor_gnss.yaml
+++ b/yaml/IRI/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10
init_frames: false
pseudo_ranges: true
+fix: false
enu_map_fix_dist: 5
keyframe_vote:
voting_active: true
@@ -30,7 +31,7 @@ gnss:
IRN: false
LEO: false
tdcp:
- enabled: true
+ enabled: false
corr_iono: false
corr_tropo: false
loss_function: false
@@ -39,4 +40,12 @@ gnss:
sigma_carrier: 0.1 # m
multi_freq: false
remove_outliers: false
- batch: false
\ No newline at end of file
+ batch: true
+ #only if batch:
+ min_common_sats: 6
+ raim_n: 1
+ raim_min_residual: 0
+ relinearize_jacobian: true
+ max_iterations: 5
+
+
\ No newline at end of file
diff --git a/yaml/IRI/subscriber_imu.yaml b/yaml/IRI/subscriber_imu.yaml
index 72c7da2..78af3a0 100644
--- a/yaml/IRI/subscriber_imu.yaml
+++ b/yaml/IRI/subscriber_imu.yaml
@@ -1,8 +1,8 @@
enableable: true
topic_enable: "gnss_available"
-imu_x_axis: -1
-imu_y_axis: 2
+imu_x_axis: 1
+imu_y_axis: -2
imu_z_axis: -3
cov_source: "msg"
diff --git a/yaml/M600a/processor_gnss.yaml b/yaml/M600a/processor_gnss.yaml
index 68bc9ed..b33c49b 100644
--- a/yaml/M600a/processor_gnss.yaml
+++ b/yaml/M600a/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10
init_frames: false
pseudo_ranges: true
+fix: false
enu_map_fix_dist: 5
keyframe_vote:
voting_active: true
diff --git a/yaml/M600b/processor_gnss.yaml b/yaml/M600b/processor_gnss.yaml
index 68bc9ed..b33c49b 100644
--- a/yaml/M600b/processor_gnss.yaml
+++ b/yaml/M600b/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10
init_frames: false
pseudo_ranges: true
+fix: false
enu_map_fix_dist: 5
keyframe_vote:
voting_active: true
diff --git a/yaml/atlantic/processor_gnss.yaml b/yaml/atlantic/processor_gnss.yaml
index 68bc9ed..b33c49b 100644
--- a/yaml/atlantic/processor_gnss.yaml
+++ b/yaml/atlantic/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10
init_frames: false
pseudo_ranges: true
+fix: false
enu_map_fix_dist: 5
keyframe_vote:
voting_active: true
diff --git a/yaml/scrab/processor_gnss.yaml b/yaml/scrab/processor_gnss.yaml
index 68bc9ed..b33c49b 100644
--- a/yaml/scrab/processor_gnss.yaml
+++ b/yaml/scrab/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10
init_frames: false
pseudo_ranges: true
+fix: false
enu_map_fix_dist: 5
keyframe_vote:
voting_active: true
diff --git a/yaml/tucan/processor_gnss.yaml b/yaml/tucan/processor_gnss.yaml
index 68bc9ed..b33c49b 100644
--- a/yaml/tucan/processor_gnss.yaml
+++ b/yaml/tucan/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10
init_frames: false
pseudo_ranges: true
+fix: false
enu_map_fix_dist: 5
keyframe_vote:
voting_active: true
--
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