feature: expose IMU gravity param and set via gtsam::PreintegrationParams - #305
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jacoblambert wants to merge 1 commit into
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feature: expose IMU gravity param and set via gtsam::PreintegrationParams#305jacoblambert wants to merge 1 commit into
jacoblambert wants to merge 1 commit into
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jacoblambert
marked this pull request as ready for review
June 8, 2026 14:15
jacoblambert
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Thanks!, but there is already an acceleration scale parameter in Line 55 in a9be365 |
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It is sometimes useful to set a different gravity magnitue for the IMU, but current implementation uses gtsam default as defined here.
This PR exposes a gravity magnitude parameter and allows it to be optionally set in
config_sensors.yaml.