diff --git a/include/gnss/sensor/sensor_gnss.h b/include/gnss/sensor/sensor_gnss.h index ee379c90fc315f4a1000c906cd38750949c8d09a..0fe76e0d808b0389b3b4da461aab3291dc26c6a1 100644 --- a/include/gnss/sensor/sensor_gnss.h +++ b/include/gnss/sensor/sensor_gnss.h @@ -19,17 +19,17 @@ WOLF_PTR_TYPEDEFS(SensorGnss); struct ParamsSensorGnss : public ParamsSensorBase { // extrinsics and intrinsics - bool extrinsics_fixed; - bool clock_bias_GPS_GLO_dynamic; - bool clock_bias_GPS_GAL_dynamic; - bool clock_bias_GPS_CMP_dynamic; + bool extrinsics_fixed = true; + bool clock_bias_GPS_GLO_dynamic = false; + bool clock_bias_GPS_GAL_dynamic = false; + bool clock_bias_GPS_CMP_dynamic = false; // ENU - std::string ENU_mode; - bool roll_fixed = false; - bool pitch_fixed = false; - bool yaw_fixed = false; - bool translation_fixed = false; + std::string ENU_mode = "auto"; + bool roll_fixed = true; + bool pitch_fixed = true; + bool yaw_fixed = true; + bool translation_fixed = true; Eigen::Vector3d ENU_latlonalt = Eigen::Vector3d::Zero(); diff --git a/src/sensor/sensor_gnss.cpp b/src/sensor/sensor_gnss.cpp index 29b8234fdd2057a85224d891f301b84d36b9ba51..471384faccb0c9734dca708ef7c9946675c391f3 100644 --- a/src/sensor/sensor_gnss.cpp +++ b/src/sensor/sensor_gnss.cpp @@ -45,7 +45,7 @@ SensorGnss::SensorGnss(const Eigen::VectorXd& _extrinsics, // PRIORS // prior to ENU-MAP (avoid non-observable problem) - if (params->ENU_mode != "ECEF") + if (params_->ENU_mode != "ECEF") { if (not params_->translation_fixed) addPriorParameter('t', Eigen::Vector3d::Zero(), 10*Eigen::Matrix3d::Identity());