params.yml

# parameters file for microstrain_inertial docker image (CX5 IMU) 

# https://github.com/LORD-MicroStrain/microstrain_inertial_driver_common/blob/main/config/params.yml


# Controls if the driver outputs data with-respect-to ENU frame
#      false - position, velocity, and orientation are WRT the NED frame (native device frame)
#      true  - position, velocity, and orientation are WRT the ENU frame
use_enu_frame : True

baudrate    : 921600  # max

device_setup : True

# 0 = None, 1 = Euler Angles, 2 - matrix, 3 - quaternion
filter_sensor2vehicle_frame_selector: 1
filter_sensor2vehicle_frame_transformation_euler: [0.0, -0.5236, 1.571]  # [0, 0.5236, -1.571]  # [-0.5236, 0.0, 1.571] for cv7
filter_vel_in_vehicle_frame : True

# filter_declination_source: 1  # None (too much magnetic interference)
# filter_heading_source : 0  # None
# raw_file_enable : True
# raw_file_directory : ""

# imu_data_rate : 500
filter_data_rate : 500

# If this is set to true, the acceleration will not factor out gravity, if set to false gravity will be filtered out of the linear acceleration.
filter_use_compensated_accel : True