From 852d7263ce217e1a5c76912ddb879b278c301c64 Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Thu, 28 Apr 2022 12:22:40 +0200
Subject: [PATCH] New IMU calibration yaml file

---
 yaml/vi_sensor_imu.yaml | 7 +++++++
 1 file changed, 7 insertions(+)
 create mode 100644 yaml/vi_sensor_imu.yaml

diff --git a/yaml/vi_sensor_imu.yaml b/yaml/vi_sensor_imu.yaml
new file mode 100644
index 0000000..45c454b
--- /dev/null
+++ b/yaml/vi_sensor_imu.yaml
@@ -0,0 +1,7 @@
+# IMU intrinsics:
+a_noise:                0.03      # standard deviation of Acceleration noise (same for all the axis) in m/s2
+w_noise:                0.05      # standard deviation of Gyroscope noise (same for all the axis) in rad/sec
+ab_initial_stdev:       0.1       # m/s2    - initial bias 
+wb_initial_stdev:       0.1       # rad/sec - initial bias 
+ab_rate_stdev:          0.001     # m/s2/sqrt(s)           
+wb_rate_stdev:          0.001     # rad/s/sqrt(s)
-- 
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