Gravity align in local 3D SLAM. (#373)

2017-06-28 16:17:18 +02:00 · 2017-06-28 16:17:18 +02:00 · 19da0ab7c8
parent ffc939706d
commit 19da0ab7c8
1 changed files with 1 additions and 2 deletions
--- 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,
    },