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Commit 7e40911e authored by Joan Vallvé Navarro's avatar Joan Vallvé Navarro
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new parameter in processorTrackerGnss

parent 9e60f57e
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...@@ -9,7 +9,7 @@ config: ...@@ -9,7 +9,7 @@ config:
frame_structure: "POV" frame_structure: "POV"
dimension: 3 dimension: 3
tree_manager: tree_manager:
follow: "../tree_manager/sliding_window_20_0.yaml" follow: "../tree_manager/sliding_window_10_0.yaml"
prior: prior:
#follow: "../prior/POV_factor.yaml" #follow: "../prior/POV_factor.yaml"
follow: "../prior/POV_fix.yaml" follow: "../prior/POV_fix.yaml"
...@@ -21,7 +21,7 @@ config: ...@@ -21,7 +21,7 @@ config:
n_threads: 2 n_threads: 2
update_immediately: true update_immediately: true
min_num_iterations: 5 #if update immediately min_num_iterations: 5 #if update immediately
compute_cov: true compute_cov: false
cov_enum: 3 cov_enum: 3
cov_period: 1 cov_period: 1
......
...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true ...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10 outlier_residual_th: 10
init_frames: false init_frames: false
pseudo_ranges: true pseudo_ranges: true
fix: false
enu_map_fix_dist: 5 enu_map_fix_dist: 5
keyframe_vote: keyframe_vote:
voting_active: true voting_active: true
...@@ -30,7 +31,7 @@ gnss: ...@@ -30,7 +31,7 @@ gnss:
IRN: false IRN: false
LEO: false LEO: false
tdcp: tdcp:
enabled: true enabled: false
corr_iono: false corr_iono: false
corr_tropo: false corr_tropo: false
loss_function: false loss_function: false
...@@ -39,4 +40,12 @@ gnss: ...@@ -39,4 +40,12 @@ gnss:
sigma_carrier: 0.1 # m sigma_carrier: 0.1 # m
multi_freq: false multi_freq: false
remove_outliers: false remove_outliers: false
batch: false batch: true
\ No newline at end of file #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
enableable: true enableable: true
topic_enable: "gnss_available" topic_enable: "gnss_available"
imu_x_axis: -1 imu_x_axis: 1
imu_y_axis: 2 imu_y_axis: -2
imu_z_axis: -3 imu_z_axis: -3
cov_source: "msg" cov_source: "msg"
......
...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true ...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10 outlier_residual_th: 10
init_frames: false init_frames: false
pseudo_ranges: true pseudo_ranges: true
fix: false
enu_map_fix_dist: 5 enu_map_fix_dist: 5
keyframe_vote: keyframe_vote:
voting_active: true voting_active: true
......
...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true ...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10 outlier_residual_th: 10
init_frames: false init_frames: false
pseudo_ranges: true pseudo_ranges: true
fix: false
enu_map_fix_dist: 5 enu_map_fix_dist: 5
keyframe_vote: keyframe_vote:
voting_active: true voting_active: true
......
...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true ...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10 outlier_residual_th: 10
init_frames: false init_frames: false
pseudo_ranges: true pseudo_ranges: true
fix: false
enu_map_fix_dist: 5 enu_map_fix_dist: 5
keyframe_vote: keyframe_vote:
voting_active: true voting_active: true
......
...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true ...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10 outlier_residual_th: 10
init_frames: false init_frames: false
pseudo_ranges: true pseudo_ranges: true
fix: false
enu_map_fix_dist: 5 enu_map_fix_dist: 5
keyframe_vote: keyframe_vote:
voting_active: true voting_active: true
......
...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true ...@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
outlier_residual_th: 10 outlier_residual_th: 10
init_frames: false init_frames: false
pseudo_ranges: true pseudo_ranges: true
fix: false
enu_map_fix_dist: 5 enu_map_fix_dist: 5
keyframe_vote: keyframe_vote:
voting_active: true voting_active: true
......
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