GAAS

%YAML:1.0











INIT_SPIN_TIMES : 10000
INIT_MAX_TIME_us : 5000000 # 5s.

#AHRS_topic_name : "/GAAS/AHRS/attitude"
AHRS_topic_name : "/mavros/local_position/odom"
GPS_topic_name : "/mavros/global_position/raw/fix"
SLAM_topic_name : "/gaas/slam/pose"
#SLAM_topic_name : "/okvis_node/okvis_odometry"
#GPS_topic_name : "/mavros/global_position/global"




AHRS_AVAIL_MINIMUM : 5

ENABLE_GPS : true
GPS_AVAIL_MINIMUM : 10

#GPS_AHRS_MAX_TIME_DIFF_s : 0.08
GPS_AHRS_MAX_TIME_DIFF_s : 0.8


#GPS_INIT_VARIANCE_THRESHOLD_m : 2.0
GPS_INIT_VARIANCE_THRESHOLD_m : 4.0
GPS_INIT_ALT_VARIANCE_THRESHOLD_m : 2.0
#GPS_MIN_VARIANCE_LONLAT_m : 0.5 # minimum variance allowed.
GPS_MIN_VARIANCE_LONLAT_m : 1.0 # minimum variance allowed.
#GPS_MIN_VARIANCE_ALT_m : 0.8
GPS_MIN_VARIANCE_ALT_m : 1.8
GPS_MAX_DELAY_SEC : 0.5


#SLAM_AVAIL_MINIMUM : 30
SLAM_AVAIL_MINIMUM : 10

#SLAM_AHRS_MAX_TIME_DIFF_s : 0.08
SLAM_AHRS_MAX_TIME_DIFF_s : 0.8
SLAM_T_INFO_WEIGHT : 0.5

SCENE_RETREVE_GPS_AVAIL : false # use scene model gps info?do not recommend.

AHRS_loss_thres : 10.0
GPS_loss_thres : 5.0
VISION_loss_thres : 0.5
SCENE_RETREVE_loss_thres : 0.3


OPTIMIZATION_GRAPH_KF_WIND_LEN : 10




...