From fc24636c4b14f53cbbdf34d5a21eacb6e8c857db Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Thu, 16 Sep 2021 14:40:04 +0200
Subject: [PATCH] M600b

---
 yaml/M600b/processor_fix_wing.yaml       | 7 +++++++
 yaml/M600b/publisher_rpa_state_info.yaml | 3 ++-
 2 files changed, 9 insertions(+), 1 deletion(-)
 create mode 100644 yaml/M600b/processor_fix_wing.yaml

diff --git a/yaml/M600b/processor_fix_wing.yaml b/yaml/M600b/processor_fix_wing.yaml
new file mode 100644
index 0000000..115b1ea
--- /dev/null
+++ b/yaml/M600b/processor_fix_wing.yaml
@@ -0,0 +1,7 @@
+time_tolerance: 0.005         # Time tolerance for joining KFs
+keyframe_vote:
+   voting_active:    false
+apply_loss_function: false
+velocity_local: [1, 0, 0]
+angle_stdev: 0.05
+min_vel_norm: 1
\ No newline at end of file
diff --git a/yaml/M600b/publisher_rpa_state_info.yaml b/yaml/M600b/publisher_rpa_state_info.yaml
index 851d6c0..3813676 100644
--- a/yaml/M600b/publisher_rpa_state_info.yaml
+++ b/yaml/M600b/publisher_rpa_state_info.yaml
@@ -4,4 +4,5 @@ icao: 3434008 # M600b
 k_H: 5.256522
 k_V: 4.891638
 HAL: 20 #20/10
-VAL: 30 #30/444
\ No newline at end of file
+VAL: 30 #30/444
+yaw_offset: 1.57
\ No newline at end of file
-- 
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