%YAML:1.0
# Type of IMU preintegration:
# 0: CombinedImuFactor
# 1: ImuFactor
imu_preintegration_type: 1

# These are Euroc Dataset parameters
# Sensor extrinsics wrt. the body-frame.
T_BS:
  cols: 4
  rows: 4
  data: [1.0, 0.0, 0.0, 0.0,
         0.0, 1.0, 0.0, 0.0,
         0.0, 0.0, 1.0, 0.0,
         0.0, 0.0, 0.0, 1.0]
rate_hz: 400

# inertial sensor parameters
gyroscope_noise_density: 0.04  # [rad/s/sqrt(Hz)] (gyro "white noise")
gyroscope_random_walk: 0.00266  # [rad/s^2/sqrt(Hz)] (gyro bias diffusion)
accelerometer_noise_density: 0.04  # [m/s^2/sqrt(Hz)] (accel "white noise")
accelerometer_random_walk: 0.00433  # [m/s^3/sqrt(Hz)] (accel bias diffusion)

# other parameters
do_imu_rate_time_alignment: 0
time_alignment_window_size_s: 10.0
time_alignment_variance_threshold_scaling: 0.0
imu_integration_sigma: 1e-08
imu_bias_init_sigma: 1e-04
imu_time_shift: 0.0  # in seconds
n_gravity: [0.00000000,  0.00000000, -9.81000000]  # [m/s^2] (gravity vectory in "world" frame)