aleks/flix
1
0
Fork 0
mirror of https://github.com/okalachev/flix.git synced 2025-07-27 09:39:33 +00:00
Code Issues Packages Projects Releases Wiki Activity

Use simulated IMU noise values from MPU9250 datasheet

Browse Source
This commit is contained in:
Oleg Kalachev 2023-12-04 00:29:21 +03:00
parent 89bf8a7f14
commit e360110430
1 changed files with 6 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

30
gazebo/models/flix/flix.sdf
View File

@ -60,52 +60,34 @@
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.5e-2</stddev>
<!-- <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> -->
<stddev>0.00174533</stddev><!-- 0.1 degrees per second -->
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.5e-2</stddev>
<!-- <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> -->
<stddev>0.00174533</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.5e-2</stddev>
<!-- <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> -->
<stddev>0.00174533</stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>3.5e-1</stddev>
<!-- <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> -->
<stddev>0.0784</stddev><!-- 8 mg -->
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>3.5e-1</stddev>
<!-- <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> -->
<stddev>0.0784</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>3.5e-1</stddev>
<!-- <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> -->
<stddev>0.0784</stddev>
</noise>
</z>
</linear_acceleration>