remove gravity vector in IMU (#187)

husarion · Aug 25, 2023 · b9c10a3 · b9c10a3
1 parent 13d4e0c
commit b9c10a3
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/panther_bringup/config/ekf_config.yaml b/panther_bringup/config/ekf_config.yaml
@@ -36,7 +36,7 @@ imu0_differential: false
 imu0_relative: true
 imu0_queue_size: 5
 
-imu0_remove_gravitational_acceleration: true
+imu0_remove_gravitational_acceleration: false
 
 reset_on_time_jump: false
 predict_to_current_time: false

diff --git a/panther_bringup/config/imu_config.yaml b/panther_bringup/config/imu_config.yaml
@@ -10,7 +10,7 @@ imu_filter_node:
   use_magnetic_field_msg: true # If set to true, subscribe to the /imu/mag topic as a sensor_msgs/MagneticField; if set to false (deprecated), use geometry_msgs/Vector3Stamped. Only changes type of the message, whether mag data is used is controlled by the use_mag parameter
   fixed_frame: imu_link
   stateless: false
-  remove_gravity_vector: false
+  remove_gravity_vector: true
 
 phidgets_spatial_node:
   data_interval_ms: 8 # supported data rates: 4 8 16 24 32 40 ... 1000 (in ms)