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Parameter name | Description | Default |
|---|---|---|
type | Type of sensor fusion. At the moment only default option possible. | ImuOpticalFusion |
echoFusedPose | Print fused pose like it is output | false |
echoOpticalPose | Print optical pose like it is received by fusion | false |
runIntercalibration | Starts intercalibration between IMU and optical target | true |
minAgeS | Minimum time between two autocalibrations | 60.0 |
nSamplesForAutocalibration | Number of samples used by autocalibration | 1500 |
nSamplesForSteady | Number of samples needed below threshold to trigger calibration | 256 |
noiseRmsLimit | Noise limit | 0.02 |
steadyThresholdAverage | Threshold average limit | 0.2 |
steadyThresholdRms | Threshold RMS limit | 1.0 |
omegaLimit | Omega limit | 2.0 |
positionSampleInterval | Interval between two position samples for motion detection | 1000 |
rotationFilterAlpha | Weight for rotation low-pass filter | 0.9 |
timeToUnknown | Interval to autocalibration “unknown” state | 500 |
alignment | Alignment quaternion between IMU and optical target. Insert the result of the intercalibration here. | 1, 0, 0, 0 |
orientationWeight | Amount of correction of angle calculated from gyroscope data by optical measurements (roll, pitch, yaw) | 0.005 |
tiltCorrection | Specify for correcting tilt of angle calculated from gyroscope data by vertical calculated from gravity measurements. This feature is not available yet. | null |
yawWeight | Amount of yaw correction by optical data, if tilt correction is active | 0.01 |
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