def METHOD_NAME(g: float):
    """Create default parameters with Z *up* and realistic noise parameters"""
    params = gtsam.PreintegrationParams.MakeSharedU(g)
    kGyroSigma = np.radians(0.5) / 60  # 0.5 degree ARW
    kAccelSigma = 0.1 / 60  # 10 cm VRW
    params.setGyroscopeCovariance(kGyroSigma**2 * np.identity(3, float))
    params.setAccelerometerCovariance(kAccelSigma**2 *
                                      np.identity(3, float))
    params.setIntegrationCovariance(0.0000001**2 * np.identity(3, float))
    return params