From 8aaf4d1fad64e5ac55af066d72927e63f272005f Mon Sep 17 00:00:00 2001
From: jongwonjlee <jongwon5@illinois.edu>
Date: Thu, 23 Nov 2023 16:52:12 -0600
Subject: [PATCH] fix typo in gyro_drift_std
---
src/processor/processor_imu.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index fdaf03e64..d7312e681 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;
--
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