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fix a bug for unstationary start

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Joanna-HE
2024-05-06 03:28:07 -04:00
parent 9de9b4a7b9
commit c13454d862
5 changed files with 15 additions and 13 deletions
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4
config/avia.yaml
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@@ -34,8 +34,8 @@ mapping:
match_s: 81
ivox_grid_resolution: 2.0
gravity: [0.0, 0.0, -9.810] # [0.0, 9.810, 0.0] # # [0.0, 0.0, -9.787561] # gvins #
gravity_init: [0.0, 0.0, -9.810] # preknown gravity for unstationary start
extrinsic_T: [ 0.04165, 0.02326, -0.0284 ]
gravity_init: [0.0, 0.0, -9.810] # preknown gravity for unstationary start in the initial IMU frame
extrinsic_T: [ 0.04165, 0.02326, -0.0284 ] # avia # [0.011, 0.02329, -0.04412] # mid360
extrinsic_R: [ 1, 0, 0,
0, 1, 0,
0, 0, 1 ]