diff --git a/yaml/processor_imu.yaml b/yaml/processor_imu.yaml new file mode 100644 index 0000000000000000000000000000000000000000..a9beb5b99c808298629641cbdae1d0a11f7553c8 --- /dev/null +++ b/yaml/processor_imu.yaml @@ -0,0 +1,8 @@ +time_tolerance: 0.0025 # Time tolerance for joining KFs (half of 5ms or 200Hz) +unmeasured_perturbation_std: 0.000001 +keyframe_vote: + voting_active: false + max_time_span: 1.0 # seconds + max_buff_length: 500 # motion deltas + dist_traveled: 2.0 # meters + angle_turned: 0.1 # radians (1 rad approx 57 deg, approx 60 deg)