diff --git a/yaml/IRI/params.yaml b/yaml/IRI/params.yaml index 164c72e78899347e42003bac596a9928e57ec9bc..6867398d211698737c30996b4c1cb9fbfeccf4da 100644 --- a/yaml/IRI/params.yaml +++ b/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" diff --git a/yaml/sensor_bno_compass.yaml b/yaml/IRI/sensor_bno_compass.yaml similarity index 51% rename from yaml/sensor_bno_compass.yaml rename to yaml/IRI/sensor_bno_compass.yaml index 181080baa7ff152c9fa2d9003a84eb21a17c79d3..5fa032c67166036ce0f81a0955db519284965f5e 100644 --- a/yaml/sensor_bno_compass.yaml +++ b/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 diff --git a/yaml/M600a/params.yaml b/yaml/M600a/params.yaml index 213ca4a2c96dbf9182164a211026fbd88ec71b44..7b990249e448889e98465611d91522a5d3bea141 100644 --- a/yaml/M600a/params.yaml +++ b/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: diff --git a/yaml/M600a/sensor_bno_compass.yaml b/yaml/M600a/sensor_bno_compass.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fa032c67166036ce0f81a0955db519284965f5e --- /dev/null +++ b/yaml/M600a/sensor_bno_compass.yaml @@ -0,0 +1,12 @@ +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 diff --git a/yaml/M600b/params.yaml b/yaml/M600b/params.yaml index 213ca4a2c96dbf9182164a211026fbd88ec71b44..7b990249e448889e98465611d91522a5d3bea141 100644 --- a/yaml/M600b/params.yaml +++ b/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: diff --git a/yaml/M600b/sensor_bno_compass.yaml b/yaml/M600b/sensor_bno_compass.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fa032c67166036ce0f81a0955db519284965f5e --- /dev/null +++ b/yaml/M600b/sensor_bno_compass.yaml @@ -0,0 +1,12 @@ +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 diff --git a/yaml/atlantic/params.yaml b/yaml/atlantic/params.yaml index 213ca4a2c96dbf9182164a211026fbd88ec71b44..1adedd4f78ac6a5b29fa10a450c7e9b8b8b5452b 100644 --- a/yaml/atlantic/params.yaml +++ b/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: diff --git a/yaml/atlantic/sensor_bno_compass.yaml b/yaml/atlantic/sensor_bno_compass.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fa032c67166036ce0f81a0955db519284965f5e --- /dev/null +++ b/yaml/atlantic/sensor_bno_compass.yaml @@ -0,0 +1,12 @@ +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 diff --git a/yaml/magnetic_field.yaml b/yaml/magnetic_field.yaml new file mode 100644 index 0000000000000000000000000000000000000000..827710c1ceb8dcba60befd3e2118b397e70c6ada --- /dev/null +++ b/yaml/magnetic_field.yaml @@ -0,0 +1,6 @@ +# 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 diff --git a/yaml/scrab/params.yaml b/yaml/scrab/params.yaml index 213ca4a2c96dbf9182164a211026fbd88ec71b44..092ec698d24045077d5902dac93ff66d17434ddd 100644 --- a/yaml/scrab/params.yaml +++ b/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" diff --git a/yaml/scrab/sensor_bno_compass.yaml b/yaml/scrab/sensor_bno_compass.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fa032c67166036ce0f81a0955db519284965f5e --- /dev/null +++ b/yaml/scrab/sensor_bno_compass.yaml @@ -0,0 +1,12 @@ +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 diff --git a/yaml/tucan/params.yaml b/yaml/tucan/params.yaml index 34055473865e893b80573359f0c7b85e7d064c88..5e03a0aca675aa2353f0e8d511f8ffa7f29055bc 100644 --- a/yaml/tucan/params.yaml +++ b/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" diff --git a/yaml/tucan/sensor_bno_compass.yaml b/yaml/tucan/sensor_bno_compass.yaml new file mode 100644 index 0000000000000000000000000000000000000000..5fa032c67166036ce0f81a0955db519284965f5e --- /dev/null +++ b/yaml/tucan/sensor_bno_compass.yaml @@ -0,0 +1,12 @@ +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