increased imu noise density for oak_d

ctu-mrs · Dec 13, 2023 · 3da75cf · 3da75cf
1 parent 14cc4b4
commit 3da75cf
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/ros_packages/mrs_open_vins_core/config/oak_d/kalibr_imu_chain.yaml b/ros_packages/mrs_open_vins_core/config/oak_d/kalibr_imu_chain.yaml
@@ -7,9 +7,9 @@ imu0:
     - [0.0, 0.0, 1.0, 0.0]
     - [0.0, 0.0, 0.0, 1.0]
   # TODO estimate for oak d
-  accelerometer_noise_density: 2.0000e-3  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
+  accelerometer_noise_density: 2.0000e-2  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
   accelerometer_random_walk: 3.0000e-3    # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )
-  gyroscope_noise_density: 1.6968e-04     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
+  gyroscope_noise_density: 1.6968e-03     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
   gyroscope_random_walk: 1.9393e-05       # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
   time_offset: 0.0 # estimated by open_vins
   update_rate: 200.0