diff options
Diffstat (limited to 'src/main.cpp')
| -rw-r--r-- | src/main.cpp | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/main.cpp b/src/main.cpp index 5d4ea71..f1f2cd8 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -55,7 +55,7 @@ imuCallback(const message &msg, State &mu, const Quaterniond &q, const timestamp Vector3d acc(msg.linear_acceleration.y,msg.linear_acceleration.x,-msg.linear_acceleration.z); Vector3d ang(msg.angular_velocity.y,msg.angular_velocity.x,-msg.angular_velocity.z); // WARNING: This is the bias for 1112-1 - Vector3d ang_bias(-2.795871394666666222e-03, 6.984255690000021506e-03, 1.418145565750002614e-03); + Vector3d ang_bias(-2.795871394666666222e-03, 6.984255690000021506e-03, -1.418145565750002614e-03); ang -= ang_bias; double dtf = dt.secs+dt.nsecs*1e-9; @@ -220,7 +220,8 @@ main(int argc, char **argv) Quaterniond qbw; // bias in FRD coordinates Vector3d acc_bias; - acc_bias << -0.03713532, 1.125*0.01465135, -1*-0.00709229; + //acc_bias << -0.03713532, 1.125*0.01465135, -1*-0.00709229; + acc_bias << 0.95*-0.03713532, 0.65*0.01465135, -1*-0.00709229; mu.accelerometer_bias(acc_bias); timestamp dt{0,0}; timestamp t_old{0,0}; |