Use simulated IMU noise values from MPU9250 datasheet

okalachev · Dec 3, 2023 · 1c28b07 · 1c28b07
1 parent dff8493
commit 1c28b07
Showing 1 changed file with 6 additions and 24 deletions.
diff --git a/gazebo/models/flix/flix.sdf b/gazebo/models/flix/flix.sdf
@@ -60,52 +60,34 @@
  <angular_velocity>
  <x>
  <noise type="gaussian">
- <mean>0.0</mean>
- <stddev>1.5e-2</stddev>
- <!-- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev> -->
+ <stddev>0.00174533</stddev><!-- 0.1 degrees per second -->
  </noise>
  </x>
  <y>
  <noise type="gaussian">
- <mean>0.0</mean>
- <stddev>1.5e-2</stddev>
- <!-- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev> -->
+ <stddev>0.00174533</stddev>
  </noise>
  </y>
  <z>
  <noise type="gaussian">
- <mean>0.0</mean>
- <stddev>1.5e-2</stddev>
- <!-- <bias_mean>0.0000075</bias_mean>
- <bias_stddev>0.0000008</bias_stddev> -->
+ <stddev>0.00174533</stddev>
  </noise>
  </z>
  </angular_velocity>
  <linear_acceleration>
  <x>
  <noise type="gaussian">
- <mean>0.0</mean>
- <stddev>3.5e-1</stddev>
- <!-- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev> -->
+ <stddev>0.0784</stddev><!-- 8 mg -->
  </noise>
  </x>
  <y>
  <noise type="gaussian">
- <mean>0.0</mean>
- <stddev>3.5e-1</stddev>
- <!-- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev> -->
+ <stddev>0.0784</stddev>
  </noise>
  </y>
  <z>
  <noise type="gaussian">
- <mean>0.0</mean>
- <stddev>3.5e-1</stddev>
- <!-- <bias_mean>0.1</bias_mean>
- <bias_stddev>0.001</bias_stddev> -->
+ <stddev>0.0784</stddev>
  </noise>
  </z>
  </linear_acceleration>