From 1f40e88810f13730b80859c78a68aedec2a23b6b Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Thu, 28 Apr 2022 16:20:40 +0200
Subject: [PATCH] New file processor_imu.yaml

---
 yaml/processor_imu.yaml | 8 ++++++++
 1 file changed, 8 insertions(+)
 create mode 100644 yaml/processor_imu.yaml

diff --git a/yaml/processor_imu.yaml b/yaml/processor_imu.yaml
new file mode 100644
index 0000000..a9beb5b
--- /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)
-- 
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