From 6a653031689bbb592792d85e932eb4c8f1c8427c Mon Sep 17 00:00:00 2001
From: Mederic Fourmy <mederic.fourmy@gmail.com>
Date: Wed, 6 Jul 2022 17:22:13 +0200
Subject: [PATCH] add IMU bootstrap params

---
 yaml/processor_imu.yaml | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/yaml/processor_imu.yaml b/yaml/processor_imu.yaml
index b8ca2c8..18567f3 100644
--- a/yaml/processor_imu.yaml
+++ b/yaml/processor_imu.yaml
@@ -1,9 +1,16 @@
 time_tolerance: 0.0025         # Time tolerance for joining KFs (half of 5ms or 200Hz)
 unmeasured_perturbation_std: 0.000001
 apply_loss_function: false
+
 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)
+
+bootstrap:
+    enable: false 
+    method: "G"             # methods: "G", "STATIC" or "V0_G"
+    averaging_length: 0.10  # seconds
+    keyframe_provider_processor_name: "processor_other_name" # Not yet implemented
\ No newline at end of file
-- 
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