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I was reviewing your code to see how you set the covariance matrices of the different sensor values and I found something which I found weird. Since there wasn't an issue on the subject...
I have learned that usually we only set the diagonal values, but what I found weird was the value you use to set the covariance diagonal values or the naming of the parameters.
You do it like this: imu.orientation_covariance[0] = orientation_stddev;
But shouldn't it be like this? imu.orientation_covariance[0] = orientation_stddev * orientation_stddev;
Or this? imu.orientation_covariance[0] = orientation_variance;
Thank you.
The text was updated successfully, but these errors were encountered:
Hello,
I was reviewing your code to see how you set the covariance matrices of the different sensor values and I found something which I found weird. Since there wasn't an issue on the subject...
I have learned that usually we only set the diagonal values, but what I found weird was the value you use to set the covariance diagonal values or the naming of the parameters.
You do it like this:
imu.orientation_covariance[0] = orientation_stddev;
But shouldn't it be like this?
imu.orientation_covariance[0] = orientation_stddev * orientation_stddev;
Or this?
imu.orientation_covariance[0] = orientation_variance;
Thank you.
The text was updated successfully, but these errors were encountered: