diff --git a/demos/processor_imu.yaml b/demos/processor_imu.yaml index e1b0c2e86eb5212679e7c75db2ba2f25fc039348..0e9c8d10e6ee5238e4cbcbe974f061ff426cb329 100644 --- a/demos/processor_imu.yaml +++ b/demos/processor_imu.yaml @@ -9,3 +9,8 @@ keyframe_vote: max_buff_length: 20000 # motion deltas dist_traveled: 2.0 # meters angle_turned: 0.2 # radians (1 rad approx 57 deg, approx 60 deg) + +bootstrap: + enable: true + method: "G" + averaging_length: 10 \ No newline at end of file diff --git a/test/yaml/imu_static_init.yaml b/test/yaml/imu_static_init.yaml index 46393f30b8f24bf645bfb1272764e6c8915e5dc2..99da4ac074de4d9712d926d12db2cb946254f9a9 100644 --- a/test/yaml/imu_static_init.yaml +++ b/test/yaml/imu_static_init.yaml @@ -10,3 +10,8 @@ keyframe_vote: max_buff_length: 1000000000 # motion deltas dist_traveled: 100000000000 # meters angle_turned: 10000000000 # radians (1 rad approx 57 deg, approx 60 deg) + +bootstrap: + enable: true + method: "G" + averaging_length: 10 \ No newline at end of file