GAAS

%YAML:1.0


INIT_SPIN_TIMES : 10000
INIT_MAX_TIME_us : 10000000 # 10s.

AHRS_topic_name : "/GAAS/AHRS/attitude"
AHRS_AVAIL_MINIMUM : 5

ENABLE_GPS : true
GPS_AVAIL_MINIMUM : 1 #10

#GPS_AHRS_MAX_TIME_DIFF_s : 0.08
GPS_AHRS_MAX_TIME_DIFF_s : 0.8


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: [ 0,0,-1,
            0,1,0,
            1,0,0]
GPS_RECATCH_PATIENCE: 30