diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp index fdaf03e64c3ec240c2a9fc2e03b5e4c7bb5e6a47..d7312e681d3d060eb88fb5d9afc4bc6a1fce63fc 100644 --- a/src/processor/processor_imu.cpp +++ b/src/processor/processor_imu.cpp @@ -112,7 +112,7 @@ void ProcessorImu::configure(SensorBasePtr _sensor) sensor_imu_ = std::static_pointer_cast<SensorImu>(_sensor); auto acc_drift_std = sensor_imu_->getAbRateStdev(); - auto gyro_drift_std = sensor_imu_->getAbRateStdev(); + auto gyro_drift_std = sensor_imu_->getWbRateStdev(); ArrayXd imu_drift_sigmas(6); imu_drift_sigmas << acc_drift_std, acc_drift_std, acc_drift_std, gyro_drift_std, gyro_drift_std, gyro_drift_std;