From b044f6f29453e4881c80be0f54b9bdc91cdb6b10 Mon Sep 17 00:00:00 2001
From: Orange <2314753575@qq.com>
Date: Sat, 1 Jan 2000 09:29:04 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E4=BA=86odom=5Fconbied?=
 =?UTF-8?q?=E5=AE=8C=E5=85=A8=E4=BF=A1=E4=BB=BBodom=EF=BC=8Codomyaw?=
 =?UTF-8?q?=E5=AE=8C=E5=85=A8=E4=BF=A1=E4=BB=BB=E9=99=80=E8=9E=BA=E4=BB=AA?=
 =?UTF-8?q?=E7=A7=AF=E5=88=86=EF=BC=8C=E4=B8=8D=E8=80=83=E8=99=91=E5=9B=9B?=
 =?UTF-8?q?=E5=85=83=E6=95=B0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/origincar_base/config/ekf.yaml | 24 +++++++++++++-----------
 1 file changed, 13 insertions(+), 11 deletions(-)

diff --git a/src/origincar_base/config/ekf.yaml b/src/origincar_base/config/ekf.yaml
index b9513f6..f7538ee 100644
--- a/src/origincar_base/config/ekf.yaml
+++ b/src/origincar_base/config/ekf.yaml
@@ -27,17 +27,19 @@ ekf_filter_node:
         odom0_differential: true
         odom0_relative: false
 
-        imu0: /imu/data_raw
-        imu0_config: [false, false, false,
-                      false, false, true,
-                      false, false, false,
-                      false, false, true,
-                      false, false, false]
-        imu0_nodelay: false
-        imu0_differential: false
-        imu0_relative: true
-        imu0_queue_size: 10
-        imu0_remove_gravitational_acceleration: true
+        odom1: odom
+        odom1_config: [false, false, false,
+                       false, false, true,
+                       false, false, false,
+                       false, false, false,
+                       false, false, false]
+        odom1_queue_size: 10
+        odom1_nodelay: false
+        odom1_differential: false
+        odom1_relative: false
+
+        # Disable IMU fusion in EKF for yaw so odom_combined orientation follows raw odom.
+        # The raw odom yaw is already generated from the upper-node gyro-z integration chain.
 
         use_control: false
         stamped_control: false