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修改了odom_conbied完全信任odom，odomyaw完全信任陀螺仪积分，不考虑四元数

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2000-01-01 09:29:04 +08:00
parent 48452d8d93
commit b044f6f294
1 changed files with 13 additions and 11 deletions
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24
src/origincar_base/config/ekf.yaml
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@@ -27,17 +27,19 @@ ekf_filter_node:
odom0_differential: true odom0_differential: true
odom0_relative: false odom0_relative: false
imu0: /imu/data_raw odom1: odom
imu0_config: [false, false, false, odom1_config: [false, false, false,
false, false, true, false, false, true,
false, false, false, false, false, false,
false, false, true, false, false, false,
false, false, false] false, false, false]
imu0_nodelay: false odom1_queue_size: 10
imu0_differential: false odom1_nodelay: false
imu0_relative: true odom1_differential: false
imu0_queue_size: 10 odom1_relative: false
imu0_remove_gravitational_acceleration: true
# 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 use_control: false
stamped_control: false stamped_control: false