moved SBG gps from centre

src/hardware/sensors/config/ellipse_D.yaml

@@ -55,17 +55,19 @@
  # Sensor Parameters (Queensland Raceway, Ipswich)
  sensorParameters:
  # Initial latitude (°)
- initLat: -27.477822
+ # initLat: -27.477822
+ initLat: -27.226920
  # Initial longitude (°)
- initLong: 153.028623
+ # initLong: 153.028623
+ initLong: 152.967250
  # Initial altitude (above WGS84 ellipsoid) (m)
- initAlt: 10.0
+ initAlt: 20.0
  # Year at startup
- year: 2023
+ year: 2024
  # month in year at startup
- month: 11
+ month: 05
  # day in month at startup
- day: 17
+ day: 21
 
  # Montion profile ID
  # 1 GENERAL_PURPOSE Should be used as a default when other profiles do not apply
@@ -84,25 +86,25 @@
  # 3 ALIGNMENT_RIGHT IMU Axis is turned in vehicle's right direction
  # 4 ALIGNMENT_UP IMU Axis is turned in vehicle's up direction
  # 5 ALIGNMENT_DOWN IMU Axis is turned in vehicle's down direction
- axisDirectionX: 2
+ axisDirectionX: 0
  # IMU Y axis direction in vehicle frame
  # 0 ALIGNMENT_FORWARD IMU Axis is turned in vehicle's forward direction
  # 1 ALIGNMENT_BACKWARD IMU Axis is turned in vehicle's backward direction
  # 2 ALIGNMENT_LEFT IMU Axis is turned in vehicle's left direction
  # 3 ALIGNMENT_RIGHT IMU Axis is turned in vehicle's right direction
  # 4 ALIGNMENT_UP IMU Axis is turned in vehicle's up direction
  # 5 ALIGNMENT_DOWN IMU Axis is turned in vehicle's down direction
- axisDirectionY: 1
+ axisDirectionY: 3
  # Residual roll error after axis alignment rad
  misRoll: 0.0
  # Residual pitch error after axis alignment rad
  misPitch: 0.0
  # Residual yaw error after axis alignment rad
  misYaw: 0.0
  # X Primary lever arm in IMU X axis (once IMU alignment is applied) m
- leverArmX: 0.0
+ leverArmX: -0.52
  # Y Primary lever arm in IMU Y axis (once IMU alignment is applied) m
- leverArmY: 0.0
+ leverArmY: 0.25
  # Z Primary lever arm in IMU Z axis (once IMU alignment is applied) m
  leverArmZ: 0.0
 
@@ -176,20 +178,20 @@
  gnss_model_id: 107
 
  #GNSS primary antenna lever arm in IMU X axis (m)
- primaryLeverArmX: 0.3
+ primaryLeverArmX: 1.03
  #GNSS primary antenna lever arm in IMU Y axis (m)
- primaryLeverArmY: 0.0
+ primaryLeverArmY: 0.25
  #GNSS primary antenna lever arm in IMU Z axis (m)
- primaryLeverArmZ: 0.0
+ primaryLeverArmZ: -0.40
  #GNSS primary antenna precise. Set to true if the primary lever arm has been accurately entered and doesn't need online re-estimation.
  primaryLeverPrecise: true
 
  #GNSS secondary antenna lever arm in IMU X axis (m)
- secondaryLeverArmX: -0.22
+ secondaryLeverArmX: -0.45
  #GNSS secondary antenna lever arm in IMU Y axis (m)
- secondaryLeverArmY: 0.0
+ secondaryLeverArmY: 0.25
  #GNSS secondary antenna lever arm in IMU Z axis (m)
- secondaryLeverArmZ: 0.0
+ secondaryLeverArmZ: -0.90
 
  # Secondary antenna operating mode.
  # 1 The GNSS will be used in single antenna mode only and the secondary lever arm is not used.
@@ -272,7 +274,7 @@
  #
  # true : ENU convention (X east, Y north, Z up)
  # false (default): NED convention (X north, Y east, Z down)
- use_enu: true
+ use_enu: false
 
  # Frame ID:
  # Note: If the frame convention is NED so the default frame ID is (imu_link_ned)