From 19da0ab7c80c906842867992ae6369277eda32d8 Mon Sep 17 00:00:00 2001
From: Wolfgang Hess <whess@google.com>
Date: Wed, 28 Jun 2017 16:17:18 +0200
Subject: [PATCH] Gravity align in local 3D SLAM. (#373)

---
 configuration_files/trajectory_builder_3d.lua | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/configuration_files/trajectory_builder_3d.lua b/configuration_files/trajectory_builder_3d.lua
index d47db69..3194c28 100644
--- a/configuration_files/trajectory_builder_3d.lua
+++ b/configuration_files/trajectory_builder_3d.lua
@@ -68,8 +68,7 @@ TRAJECTORY_BUILDER_3D = {
       orientation_model_variance = 5e-3,
       position_model_variance = 0.00654766,
       velocity_model_variance = 0.53926,
-      -- This disables gravity alignment in local SLAM.
-      imu_gravity_time_constant = 1e9,
+      imu_gravity_time_constant = 10.,
       num_odometry_states = 1,
     },