From ab06d5f6c0f27bc87b5c5c659841664df3896c94 Mon Sep 17 00:00:00 2001
From: Matej Petrlik <matej.petrlik@fel.cvut.cz>
Date: Thu, 19 Dec 2024 14:39:09 +0100
Subject: [PATCH] added origin calibration param to default config

---
 config/default.yaml | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/config/default.yaml b/config/default.yaml
index 848f2c3..4100f67 100644
--- a/config/default.yaml
+++ b/config/default.yaml
@@ -1,6 +1,10 @@
 # Subtract the first heading from all msgs so that the origin is in zero (OpenVINS sometimes starts rotated by pi/2)
 init_in_zero: true
 
+# Wait for a service call that calibrates the level horizon (zero roll and pitch)
+# VINS algorithms initialize during initial motion, so the origin can be not gravity-aligned
+compensate_initial_tilt: false
+
 rate_limiter:
   enabled: true
   max_rate: 100.0 # [Hz]