GAAS

%YAML:1.0

#---
INIT_SPIN_TIMES : 10000
INIT_MAX_TIME_us : 10000000 # 10s.
#---

#AHRS NOT AVAIL NOW.
AHRS_topic_name : "/GAAS/AHRS/attitude"
AHRS_AVAIL_MINIMUM : 5
#---
ENABLE_GPS : 1  # 1 for true, 0 for false
GPS_AVAIL_MINIMUM : 1 #10

#GPS_AHRS_MAX_TIME_DIFF_s : 0.08
GPS_AHRS_MAX_TIME_DIFF_s : 0.8 # not avail now.


GPS_INIT_VARIANCE_THRESHOLD_m : 4.0 #2.0
GPS_INIT_ALT_VARIANCE_THRESHOLD_m : 20.0 #1.0
GPS_MIN_VARIANCE_LONLAT_m : 0.5 # minimum variance allowed.
GPS_MIN_VARIANCE_ALT_m : 0.8
GPS_topic_name : "/mavros/global_position/global"
GPS_MAX_DELAY_SEC : 0.5

SLAM_AVAIL_MINIMUM : 5 #20


#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



#for SLAM-GPS yaw match only:
SLAM_GPS_DELAY_THRESHOLD : 0.5
GPS_POS_THRES_m : 50



OPTIMIZATION_GRAPH_KF_WIND_LEN : 10

SLAM_ROTATION_MAT: !!opencv-matrix
    rows: 3
    cols: 3
    dt: d
    #data: [1,0,0,0,1,0,0,0,1] #mat Eye(). z downward.
    data: [0,0,1,1,0,0,0,1,0]

SLAM_RT_TRANS_MAT: !!opencv-matrix
#for both rotation and translation.
    rows: 3
    cols: 3
    dt: d
    data: [0,1,0,0,0,1,1,0,0]
INVERT_SLAM_Z: 1



GPS_RECATCH_PATIENCE: 30

#----
#optimization relinearize options:
ONLINE_MODE : 1
#ONLINE_MODE : 0


#these params controls online isam only.
ENABLE_RELINEARIZE: 0
RELINEARIZE_THRES: 0.01
RELINEARIZE_SKIP_NUM: 1
#----
SLAM_RELATIVE_XY_VARIANCE_m: 0.01  # 10 mm/frame.
SLAM_RELATIVE_YAW_VARIANCE_deg: 1.5 #1.5 deg/frame
SLAM_RELATIVE_HEIGHT_VARIANCE_m: 0.01  #10 mm/frame

#----


USE_BAROMETER: 1  #0 for disable