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uavfly
2025-11-15 21:59:40 +08:00
parent a6f679d2ed
commit fd0ac1c6d6
2 changed files with 9 additions and 11 deletions
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16
config/mid360.yaml
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@@ -10,7 +10,7 @@
filter_size_map: 0.5 # Options: 0.5, 0.3, 0.15, 0.1
cube_side_length: 1000.0 # Option: 1000
runtime_pos_log_enable: false # Option: True
common:
lid_topic: "/livox/lidar"
imu_topic: "/livox/imu"
@@ -32,11 +32,11 @@
imu_time_inte: 0.005 # = 1 / frequency of IMU
lidar_time_inte: 0.1
satu_acc: 3.0 # the saturation value of IMU's acceleration. not related to the units
satu_gyro: 35 # the saturation value of IMU's angular velocity. not related to the units
satu_gyro: 35.0 # the saturation value of IMU's angular velocity. not related to the units
acc_norm: 1.0 # 9.810 # 1.0 for g as unit, 9.81 for m/s^2 as unit of the IMU's acceleration
lidar_meas_cov: 0.01 # 0.001; 0.01
acc_cov_output: 500
gyr_cov_output: 1000
acc_cov_output: 500.0
gyr_cov_output: 1000.0
b_acc_cov: 0.0001
b_gyr_cov: 0.0001
imu_meas_acc_cov: 0.1 #0.1 # 0.1
@@ -44,14 +44,14 @@
gyr_cov_input: 0.01 # for IMU as input model
acc_cov_input: 0.1 # for IMU as input model
plane_thr: 0.1 # 0.05, the threshold for plane criteria, the smaller, the flatter a plane
match_s: 81
match_s: 81.0
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 in the initial IMU frame for unstationary start or in the initial LiDAR frame for using without IMU
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 ]
extrinsic_R: [ 1.0, 0.0, 0.0,
0.0, 1.0, 0.0,
0.0, 0.0, 1.0 ]
odometry:
publish_odometry_without_downsample: false