diff --git a/yaml/inertia_estimation_simulation.yaml b/yaml/inertia_estimation_simulation.yaml
index fdbbfe30a5b76e72dff85f2d0e75bdbcc77b6e29..f992b6df5bc4bf6698e89402b68093646db4c3b6 100644
--- a/yaml/inertia_estimation_simulation.yaml
+++ b/yaml/inertia_estimation_simulation.yaml
@@ -58,6 +58,7 @@ config:
gyrob_initial_std: 0.1 # rad/sec - initial bias
acc_drift_std: 0.1 # std dev of acc drift m/s2/sqrt(s)
gyro_drift_std: 0.1 # std dev of gyro drift rad/s/sqrt(s)
+ bias: [0,0,0,0,0,0] # bias prior, usefull for fixing the bias when known
imu_bias_fix: false
#FT
@@ -65,10 +66,9 @@ config:
torque_noise_std: 1 # std dev of torque noise in N/m
# Dynamics
- com: [0.00,0.00,0.0] # center of mass [m]
- inertia: [0.014958,0.014648,0.0237319] # moments of inertia i_xx, i_yy, i_zz [kg m2]
- # inertia: [0.015,0.015,0.015]
- mass: 2.02 # mass [kg]
+ com: [0.00,0.00,0.0] # center of mass [m]
+ inertia: [0.014958,0.014648,0.0237319] # moments of inertia i_xx, i_yy, i_zz [kg m2]
+ mass: 2.02 # mass [kg]
com_fix: true
inertia_fix: false
mass_fix: true
@@ -133,6 +133,7 @@ config:
topic: " "
topic_acc: "/fmu/sensor_accel/out"
topic_gyro: "/fmu/sensor_gyro/out"
+ topic_sensorCombined: "/fmu/sensor_combined/out"
topic_actuators: "/fmu/actuator_outputs/out"
topic_batteryStatus: "/fmu/battery_status/out"
sensor_name: "sensor FTI"
@@ -178,4 +179,4 @@ config:
map_frame_id: "map"
odom_frame_id: "odom"
base_frame_id: "base_footprint"
- publish_odom_tf: true
+ publish_odom_tf: true
\ No newline at end of file
diff --git a/yaml/mass_and_com_estimation_simulation.yaml b/yaml/mass_and_com_estimation_simulation.yaml
index c463cb846fd3df127996542c9a3295ed82bdef7b..8f62229aa3076ce57f6af6ae6b2ab81866d71ae1 100644
--- a/yaml/mass_and_com_estimation_simulation.yaml
+++ b/yaml/mass_and_com_estimation_simulation.yaml
@@ -52,12 +52,13 @@ config:
pose: [0,0,0, 0,0,0,1]
# IMU
- acc_noise_std: 0.1 # std dev of acc noise in m/s2 # 0.6/4
- gyro_noise_std: 0.01 # std dev of gyro noise in rad/s
- accb_initial_std: 0.01 # m/s2 - initial bias
- gyrob_initial_std: 0.01 # rad/sec - initial bias
- acc_drift_std: 0.0001 # std dev of acc drift m/s2/sqrt(s)
- gyro_drift_std: 0.0001 # std dev of gyro drift rad/s/sqrt(s)
+ acc_noise_std: 0.1 # std dev of acc noise in m/s2 # 0.6/4
+ gyro_noise_std: 0.01 # std dev of gyro noise in rad/s
+ accb_initial_std: 0.01 # m/s2 - initial bias
+ gyrob_initial_std: 0.01 # rad/sec - initial bias
+ acc_drift_std: 0.0001 # std dev of acc drift m/s2/sqrt(s)
+ gyro_drift_std: 0.0001 # std dev of gyro drift rad/s/sqrt(s)
+ bias: [0,0,0,0,0,0] # bias prior, usefull for fixing the bias when known
imu_bias_fix: false
#FT
@@ -68,6 +69,7 @@ config:
com: [0.00,0.00,0.0] # center of mass [m]
inertia: [0.0134943,0.0141622,0.0237319] # moments of inertia i_xx, i_yy, i_zz [kg m2]
mass: 2 # mass [kg]
+
com_fix: false
inertia_fix: true
mass_fix: false
@@ -87,7 +89,7 @@ config:
type: "SensorPose"
plugin: "core"
extrinsic:
- pose: [0.0,0.0,0.0, 0,0,0,1] #amg
+ pose: [0.0,0.0,0.0, 0,0,0,1]
std_p: 0.0001
std_o: 0.0001
@@ -98,13 +100,11 @@ config:
type: "ProcessorForceTorqueInertialDynamics"
sensor_name: "sensor FTI"
plugin: "bodydynamics"
- # time_tolerance: 0.00125 # 1/471/2
time_tolerance: 0.01 # amg 1/50/2
apply_loss_function: false
unmeasured_perturbation_std: 0.00001
state_getter: true
state_priority: 1
- # n_propellers: 6
keyframe_vote:
voting_active: true
max_time_span: 0.2
@@ -131,12 +131,13 @@ config:
topic: " "
topic_acc: "/fmu/sensor_accel/out"
topic_gyro: "/fmu/sensor_gyro/out"
+ topic_sensorCombined: "/fmu/sensor_combined/out"
topic_actuators: "/fmu/actuator_outputs/out"
topic_batteryStatus: "/fmu/battery_status/out"
sensor_name: "sensor FTI"
- imu_x_axis: 1
- imu_y_axis: -2
- imu_z_axis: -3
+ imu_x_axis: 1 # PX4 axis are frd (front right down)
+ imu_y_axis: -2 # PX4 axis are frd
+ imu_z_axis: -3 # PX4 axis are frd
cov_imu_source: "sensor"
in_degrees: false
synchronization_mode: "imu"
diff --git a/yaml/mass_estimation.yaml b/yaml/mass_estimation.yaml
index 938db2884d82c97568dc304026722d36782b504e..afe479c1312f69d55937fea6e41322a1d01aec35 100644
--- a/yaml/mass_estimation.yaml
+++ b/yaml/mass_estimation.yaml
@@ -4,7 +4,7 @@ config:
profiling: false
profiling_file: "~/wolf_demo_uav_identification.txt"
print_problem: true
- print_depth: 1 # only if print_problem
+ print_depth: 2 # only if print_problem
print_constr_by: false # only if print_problem
print_metric: true # only if print_problem
print_state_blocks: true # only if print_problem
@@ -58,6 +58,7 @@ config:
gyrob_initial_std: 0.01 # rad/sec - initial bias
acc_drift_std: 0.0001 # std dev of acc drift m/s2/sqrt(s)
gyro_drift_std: 0.0001 # std dev of gyro drift rad/s/sqrt(s)
+ bias: [0,0,0,0,0,0]
imu_bias_fix: false
#FT