magnetic field and extrinsics

yaml/IRI/params.yaml

@@ -35,7 +35,7 @@ config:
       type: "SensorCompass"
       name: "compass"
       plugin: "imu"
-      follow: "../sensor_bno_compass.yaml"
+      follow: "sensor_bno_compass.yaml"
     -
       type: "SensorGnss"
       name: "gnss"

yaml/sensor_bno_compass.yaml → yaml/IRI/sensor_bno_compass.yaml

@@ -3,10 +3,10 @@ extrinsic:
 
 stdev_noise: 0.3
 
-field_prior_mode: "factor"
-field_prior_state: [7.9, -20.2, -58.8] # E: 7.875 N: -20.1875 U: -58.8125
-field_prior_sigma: [10, 10, 10]
+# magnetic field
+follow: "../magnetic_field.yaml"
 
+# calibration
 bias_prior_mode: "factor"
 bias_prior_state: [0, 0, 0]
 bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file

yaml/M600a/params.yaml

@@ -35,13 +35,13 @@ config:
       type: "SensorCompass"
       name: "compass"
       plugin: "imu"
-      follow: "../sensor_bno_compass.yaml"
+      follow: "sensor_bno_compass.yaml"
     -
       type: "SensorGnss"
       name: "gnss"
       plugin: "gnss"
       extrinsic:
-         pose: [1.36, -0.04, 0.280] # BNO055 in rosbag
+         pose: [0.0, 0.0, 0.28] # M600
       follow: "../sensor_f9t.yaml"
 
   processors:

yaml/M600a/sensor_bno_compass.yaml

+extrinsic:
+   pose: [0,0,0,0,0,0,1]
+
+stdev_noise: 0.3
+
+# magnetic field
+follow: "../magnetic_field.yaml"
+
+# calibration
+bias_prior_mode: "factor"
+bias_prior_state: [0, 0, 0]
+bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file

yaml/M600b/params.yaml

@@ -35,13 +35,13 @@ config:
       type: "SensorCompass"
       name: "compass"
       plugin: "imu"
-      follow: "../sensor_bno_compass.yaml"
+      follow: "sensor_bno_compass.yaml"
     -
       type: "SensorGnss"
       name: "gnss"
       plugin: "gnss"
       extrinsic:
-         pose: [1.36, -0.04, 0.280] # BNO055 in rosbag
+         pose: [0.0, 0.0, 0.28] # M600
       follow: "../sensor_f9t.yaml"
 
   processors:

yaml/M600b/sensor_bno_compass.yaml

+extrinsic:
+   pose: [0,0,0,0,0,0,1]
+
+stdev_noise: 0.3
+
+# magnetic field
+follow: "../magnetic_field.yaml"
+
+# calibration
+bias_prior_mode: "factor"
+bias_prior_state: [0, 0, 0]
+bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file

yaml/atlantic/params.yaml

@@ -35,13 +35,13 @@ config:
       type: "SensorCompass"
       name: "compass"
       plugin: "imu"
-      follow: "../sensor_bno_compass.yaml"
+      follow: "sensor_bno_compass.yaml"
     -
       type: "SensorGnss"
       name: "gnss"
       plugin: "gnss"
       extrinsic:
-         pose: [1.36, -0.04, 0.280] # BNO055 in rosbag
+         pose: [0.30, 0, 0.25] # atlantic
       follow: "../sensor_f9t.yaml"
 
   processors:

yaml/atlantic/sensor_bno_compass.yaml

+extrinsic:
+   pose: [0,0,0,0,0,0,1]
+
+stdev_noise: 0.3
+
+# magnetic field
+follow: "../magnetic_field.yaml"
+
+# calibration
+bias_prior_mode: "factor"
+bias_prior_state: [0, 0, 0]
+bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file

yaml/magnetic_field.yaml

+# https://www.ngdc.noaa.gov/geomag/calculators/magcalc.shtml#igrfwmm
+# 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_sigma: [10, 10, 10]
\ No newline at end of file

yaml/scrab/params.yaml

@@ -35,7 +35,7 @@ config:
       type: "SensorCompass"
       name: "compass"
       plugin: "imu"
-      follow: "../sensor_bno_compass.yaml"
+      follow: "sensor_bno_compass.yaml"
     -
       type: "SensorGnss"
       name: "gnss"

yaml/scrab/sensor_bno_compass.yaml

+extrinsic:
+   pose: [0,0,0,0,0,0,1]
+
+stdev_noise: 0.3
+
+# magnetic field
+follow: "../magnetic_field.yaml"
+
+# calibration
+bias_prior_mode: "factor"
+bias_prior_state: [0, 0, 0]
+bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file

yaml/tucan/params.yaml

@@ -35,7 +35,7 @@ config:
       type: "SensorCompass"
       name: "compass"
       plugin: "imu"
-      follow: "../sensor_bno_compass.yaml"
+      follow: "sensor_bno_compass.yaml"
     -
       type: "SensorGnss"
       name: "gnss"

yaml/tucan/sensor_bno_compass.yaml

+extrinsic:
+   pose: [0,0,0,0,0,0,1]
+
+stdev_noise: 0.3
+
+# magnetic field
+follow: "../magnetic_field.yaml"
+
+# calibration
+bias_prior_mode: "factor"
+bias_prior_state: [0, 0, 0]
+bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file