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Parameter name | Description | Default |
|---|---|---|
type | ImuOpticalFusion | |
echoFusedPose | false | |
echoOpticalPose | false | |
runIntercalibration | true | |
minAgeS | 60.0 | |
nSamplesForAutocalibration | 1500 | |
nSamplesForSteady | 256 | |
noiseRmsLimit | 0.02 | |
steadyThresholdAverage | 0.2 | |
steadyThresholdRms | 1.0 | |
omegaLimit | 2.0 | |
positionSampleInterval | 1000 | |
rotationFilterAlpha | 0.9 | |
timeToUnknown | 500 | |
alignment | 1, 0, 0, 0 | |
orientationWeight | Amount of correction of angle calculated from gyroscope data by optical measurements (roll, pitch, yaw) | 0.005 |
tiltCorrection | Set to true for correcting tilt of angle calculated from gyroscope data by vertical calculated from gravity measurements | false |
yawWeight | Amount of yaw correction by optical data, if tilt correction is active | 0.01 |
This filter needs as input:
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