8000 Make IMU gyro calibration threshold configurable by pascalzauberzeug · Pull Request #261 · zauberzeug/rosys · GitHub
[go: up one dir, main page]
More Web Proxy on the site http://driver.im/
Skip to content

Make IMU gyro calibration threshold configurable #261

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
merged 3 commits into from
Feb 22, 2025
Merged

Make IMU gyro calibration threshold configurable #261

merged 3 commits into from
Feb 22, 2025

Conversation

pascalzauberzeug
Copy link
Contributor

Currently IMU measurements are ignored if gyro_calibration < 1. This PR makes this threshold configurable

@pascalzauberzeug pascalzauberzeug added the enhancement New feature or request label Feb 19, 2025
@pascalzauberzeug pascalzauberzeug added this to the 0.23.0 milestone Feb 19, 2025
@pascalzauberzeug pascalzauberzeug self-assigned this Feb 19, 2025
@pascalzauberzeug pascalzauberzeug marked this pull request as ready for review February 19, 2025 10:34
@pascalzauberzeug pascalzauberzeug mentioned this pull request Feb 22, 2025
Merged
6 tasks
falkoschindler
falkoschindler reviewed Feb 22, 2025
View reviewed changes
Copy link
Contributor
@falkoschindler falkoschindler left a comment

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I think min_gyro_calibration should be a keyword argument, shouldn't it? 🤔

@pascalzauberzeug
Copy link
Contributor Author

@falkoschindler Yes of course. I meant to do it and forgot about it 😟 Done now

@falkoschindler falkoschindler merged commit eaf0939 into main Feb 22, 2025
5 checks passed
@falkoschindler falkoschindler deleted the imu_calibration_configurable branch February 22, 2025 13:17
pascalzauberzeug added a commit to zauberzeug/field_friend that referenced this pull request Feb 25, 2025
@pascalzauberzeug @denniswittich
EKF rework: Use a odometry based prediction (#279)
ecb554b 
The current implementation uses a constant acceleration model, which
doesn't fit our needs at all because we are stopping and get moving
again quite frequently and a constant acceleration model will always lag
behind.

ToDo:
- [x] Change state uncertainty to odometry space
- [x] Tune new uncertainties
- [ ] ~Test if np.isfinite check is still needed for gnss. We could set
a fixed uncertainty in that case~ -> GNSS without heading will be added
in a later PR
- [x] Fix singular matrix error
- [x] Fix tests
- [ ] Wait for RoSys 0.23.0 with
zauberzeug/rosys#261

---------

Co-authored-by: Dr. Dennis Wittich <denniswittich@hotmail.de>
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Reviewers

@falkoschindler falkoschindler falkoschindler approved these changes

Assignees

@pascalzauberzeug pascalzauberzeug

Labels
enhancement New feature or request
Projects
None yet
Milestone
0.23.0
Development

Successfully merging this pull request may close these issues.
2 participants
@pascalzauberzeug @falkoschindler
0