From e360110430ec26443eb4b3f353f05ac1c2d0336a Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Mon, 4 Dec 2023 00:29:21 +0300
Subject: [PATCH] Use simulated IMU noise values from MPU9250 datasheet

---
 gazebo/models/flix/flix.sdf | 30 ++++++------------------------
 1 file changed, 6 insertions(+), 24 deletions(-)

diff --git a/gazebo/models/flix/flix.sdf b/gazebo/models/flix/flix.sdf
index 8ed5e9b..2c9f5b4 100644
--- a/gazebo/models/flix/flix.sdf
+++ b/gazebo/models/flix/flix.sdf
@@ -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>