Change name of some params
@@ -67,15 +67,17 @@ STRUCT_CONFIG_SECTION(SurviveKalmanTracker)
STRUCT_CONFIG_ITEM("process-weight-rot", "Rotation variance per second", 0, t->params.process_weight_rotation)
STRUCT_CONFIG_ITEM("process-weight-acc-bias", "Acc bias variance per second", 0, t->params.process_weight_acc_bias)
STRUCT_CONFIG_ITEM("process-weight-gyro-bias", "Gyro bias variance per seconid", 0, t->params.process_weight_gyro_bias)
- STRUCT_CONFIG_ITEM("minimize-state-space", "Minimize the state space", 1, t->minimize_state_space)
+ STRUCT_CONFIG_ITEM("kalman-minimize-state-space", "Minimize the state space", 1, t->minimize_state_space)
- STRUCT_CONFIG_ITEM("kalman-initial-imu-variance", "Initial variance in IMU frame", 1e-5, t->params.initial_variance_imu_correction)
- STRUCT_CONFIG_ITEM("kalman-initial-acc-scale-variance", "Initial variance in IMU frame", 1e-5, t->params.initial_acc_scale_variance)
+ STRUCT_CONFIG_ITEM("kalman-initial-imu-variance", "Initial variance in IMU frame", 0, t->params.initial_variance_imu_correction)
+ STRUCT_CONFIG_ITEM("kalman-initial-acc-scale-variance", "Initial variance in IMU frame", 0, t->params.initial_acc_scale_variance)
STRUCT_CONFIG_ITEM("kalman-zvu-moving", "", -1, t->zvu_moving_var)
STRUCT_CONFIG_ITEM("kalman-zvu-stationary", "", 1e-2, t->zvu_stationary_var)
STRUCT_CONFIG_ITEM("kalman-zvu-no-light", "", 1e-4, t->zvu_no_light_var)
+ STRUCT_CONFIG_ITEM("kalman-noise-model", "0 is jerk acceleration model, 1 is simple model", 0, t->noise_model)
+
STRUCT_CONFIG_ITEM("imu-acc-norm-penalty", "", 0, t->acc_norm_penalty)
STRUCT_CONFIG_ITEM("imu-acc-variance", "Variance of accelerometer", 1e-3, t->acc_var)
STRUCT_CONFIG_ITEM("imu-gyro-variance", "Variance of gyroscope", 1e-2, t->gyro_var)
