Added covariances #7
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…fdef debug code till it proves itself of value
…h that ability disabled so the IMU corrections will still happen for lab IMU fusion tests.
Imu diag patch tests
Can be removed later
This removes all code related to IMU_READ_IN_3_GROUPS because the data groups are now controllable by parameters enable_raw, enable_data and enable_status.
Sensor config [WiP]
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Hey @JanezCim I seem to have missed this PR! |
Author
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yeah so this is not only added covariances anymore, its also some control of the modes on the BNO chip, you can see all controls in the launch files |
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Added covariances calculation, seems to be working better for me then the 0 convariances, but im not sure if the given values are correct - anyway the source and the explanation is in the comment. Hope its usefull