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; -- GitLab