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Use simulated IMU noise values from MPU9250 datasheet

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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
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30
gazebo/models/flix/flix.sdf
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@ -60,52 +60,34 @@
<angular_velocity> <angular_velocity>
<x> <x>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <stddev>0.00174533</stddev><!-- 0.1 degrees per second -->
<stddev>1.5e-2</stddev>
<!-- <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> -->
</noise> </noise>
</x> </x>
<y> <y>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <stddev>0.00174533</stddev>
<stddev>1.5e-2</stddev>
<!-- <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> -->
</noise> </noise>
</y> </y>
<z> <z>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <stddev>0.00174533</stddev>
<stddev>1.5e-2</stddev>
<!-- <bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev> -->
</noise> </noise>
</z> </z>
</angular_velocity> </angular_velocity>
<linear_acceleration> <linear_acceleration>
<x> <x>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <stddev>0.0784</stddev><!-- 8 mg -->
<stddev>3.5e-1</stddev>
<!-- <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> -->
</noise> </noise>
</x> </x>
<y> <y>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <stddev>0.0784</stddev>
<stddev>3.5e-1</stddev>
<!-- <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> -->
</noise> </noise>
</y> </y>
<z> <z>
<noise type="gaussian"> <noise type="gaussian">
<mean>0.0</mean> <stddev>0.0784</stddev>
<stddev>3.5e-1</stddev>
<!-- <bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev> -->
</noise> </noise>
</z> </z>
</linear_acceleration> </linear_acceleration>