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settings.yaml
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settings.yaml
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---
- group: aar
name: pnm_id
expert: false
type: integer
units: N/A
default value: '0'
readonly: false
Description: PNM Identification. Range [0..2]. 0 = Non-locomotive, startup, advanced configuration; 1 = PNM1; 2 = PNM2
Notes:
- group: aar
name: pcps_pos_reference
expert: false
type: string
units: N/A
default value: '1'
readonly: false
Description: Reported locomotive position reference. Range [1..4]. 1 = Antenna ARP; 2 = Antenna Centroid; 3 = Front Coupler; 4 = Rear Coupler
Notes: Valid locomotive attitude is required to compute Antenna Centroid, Front Coupler and Rear Coupler positions. Attitude may not be available after receiver start before the locomotive movement in a good sky visibility conditions.
- group: aar
name: pcsh_ss_ssd_thr_high_precision_mph
expert: true
type: float
units: MPH
default_value: 0.05
Description: Speed SD threshold below which speed High Precision mode is reported. Range [0.0..1000.0].
Notes: Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcsh_ss_ssd_thr_standard_mph
expert: true
type: float
units: MPH
default_value: 0.5
Description: Speed SD threshold below which speed Standard mode is reported. Range [0.0..1000.0].
Notes: Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcsh_ss_ssd_thr_degraded_mph
expert: true
type: float
units: MPH
default_value: 1.0
Description: Speed SD threshold below which speed Degraded mode is reported. Range [0.0..1000.0].
Notes: Speed Very Low Confidence mode is reported when the speed is valid and speed SD is above this threshold. Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcsh_ss_hsd_thr_high_precision_deg
expert: true
type: float
units: degrees
default_value: 1.0
Description: Heading SD threshold below which heading High Precision mode is reported. Range [0.0..180.0].
Notes: Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcsh_ss_hsd_thr_standard_deg
expert: true
type: float
units: degrees
default_value: 5.0
Description: Heading SD threshold below which heading Standard mode is reported. Range [0.0..180.0].
Notes: Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcsh_ss_hsd_thr_degraded_deg
expert: true
type: float
units: degrees
default_value: 20.0
Description: Heading SD threshold below which heading Degraded mode is reported. Range [0.0..180.0].
Notes: Heading Very Low Confidence mode is reported when the heading is valid and heading SD is above this threshold. Default value is as defined in AAR S-9103 v1.0 standard.
- group: aar
name: pcof_along_track_offset_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna ARP Along Track Offset. Range [0.0..655.35].
Notes: Distance is measured from the pulling face of the front coupler towards the rear of the locomotive.
- group: aar
name: pcof_cross_track_offset_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna ARP Cross Track Offset. Range [-327.68..327.67].
Notes: Distance is measured from the locomotive centerline towards the right of the locomotive.
- group: aar
name: pcof_vertical_offset_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna ARP Vertical Offset. Range [0.0..655.35].
Notes: Distance is measured from the top of the rail up.
- group: aar
name: pcof_along_track_offset_ac_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna Centroid Along Track Offset. Range [0.0..655.35].
Notes: Distance is measured from the pulling face of the front coupler towards the rear of the locomotive.
- group: aar
name: pcof_cross_track_offset_ac_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna Centroid Cross Track Offset. Range [-327.68..327.67].
Notes: Distance is measured from the locomotive centerline towards the right of the locomotive.
- group: aar
name: pcof_vertical_offset_ac_m
expert: false
type: float
units: m
default_value: 0.0
Description: Antenna Centroid Vertical Offset. Range [0.0..655.35].
Notes: Distance is measured from the top of the rail up.
- group: aar
name: pcof_loco_length_m
expert: false
type: float
units: m
default_value: 0.0
Description: Locomotive length. Range [0.0..655.35].
Notes: Distance is measured from the pulling face of the front coupler to the pulling face of the rear coupler.
- group: aar
name: loco_coupler_height_m
expert: false
type: float
units: m
default_value: 0.84
Description: Locomotive coupler height. Range [0.0..655.35].
Notes: Distance is measured from the top of the rail up.
- group: aar
name: pccf_mfg_id
expert: true
type: integer
units: N/A
default value: '0'
readonly: false
Description: Manufacturer ID. Range [0..255].
Notes:
- group: aar
name: pccf_device_reported
expert: true
type: integer
units: N/A
default value: '0'
readonly: false
Description: Device being reported. Range [0..65535].
Notes:
- group: aar
name: pccf_equipment_description
expert: true
type: string
units: N/A
default value: ''
readonly: false
Description: Equipment description. Maximum 32 characters.
Notes:
- group: aar
name: pcsd_imu_stat_period_s
expert: true
type: integer
units: N/A
default value: '1'
readonly: false
Description: IMU statistic computation period. Range [0..1000].
Notes: When set to zero statistic will be computed at the position output rate.
- group: acquisition
name: sbas_acquisition_enabled
expert: false
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable SBAS acquisition.
Notes: If SBAS satellites are already being tracked, this setting will not remove them from tracking or exclude SBAS corrections from being used in positioning - the setting must be saved and the receiver must be restarted for this to take effect.
- group: acquisition
name: bds2_acquisition_enabled
expert: false
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable Beidou2 acquisition.
Notes: If Beidou2 satellites are already being tracked, this setting will not remove them from tracking or exclude them from being used in positioning - the setting must be saved and the receiver must be restarted for this to take effect.
- group: acquisition
name: galileo_acquisition_enabled
expert: false
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable Galileo acquisition.
Notes: If Galileo satellites are already being tracked, this setting will not remove them from tracking or exclude them from being used in positioning - the setting must be saved and the receiver must be restarted for this to take effect.
- group: acquisition
name: qzss_acquisition_enabled
expert: true
type: boolean
units: N/A
default value: 'False'
readonly: false
enumerated possible values: True,False
Description: Enable QZSS acquisition.
Notes:
- group: acquisition
name: glonass_acquisition_enabled
expert: false
type: boolean
units: N/A
default value: 'True'
readonly: false
enumerated possible values: True,False
Description: Enable GLONASS acquisition.
Notes: If GLONASS satellites are already being tracked, this setting will not remove them from tracking or exclude them from being used in positioning - the setting must be saved and the receiver must be restarted for this to take effect.
- group: acquisition
name: almanacs_enabled
expert: true
type: boolean
units: N/A
default value: 'False'
readonly: false
enumerated possible values: True,False
Description: Enable the almanac-based acquisition.
Notes:
- group: cell_modem
name: modem_type
expert: true
type: enum
enumerated possible values: GSM,CDMA
default value: 'GSM'
readonly: false
Description: The type of cell modem in use.
- group: cell_modem
name: debug
expert: true
type: boolean
default value: 'False'
readonly: false
Description: Additional debug messages for cell modem. This setting must be saved and the device rebooted for it to take effect.
- group: cell_modem
name: enable
expert: true
type: boolean
default value: 'False'
readonly: false
units: N/A
- group: cell_modem
name: device
expert: true
type: string
default value: 'ttyACM0'
readonly: false
units: N/A
- group: cell_modem
name: APN
expert: true
type: string
default value: INTERNET
readonly: false
Description: Access point name (provided by cell carrier).
units: N/A
- group: cell_modem
name: device_override
expert: true
type: string
default value: ''
readonly: false
Description: Override the device used for cell modem connectivity. If left empty, uses default device discovery to determine the correct device to use.
Notes: Cell modem 'enable' must be 'False' in order to change this setting.
- group: ethernet
name: interface_mode
expert: false
type: enum
enumerated possible values: Config,Active
units: N/A
default value: 'Active'
readonly: false
Description: Ethernet configuration mode.
Notes: |
"Config" IP configuration can be changed freely, but no change is made on the device. Returning to 'Active' mode will refresh ethernet connection with current values.
"Active" The current IP configuration is sent to the device and updated. Afterward, no IP settings can be changed until returned to 'Config' mode.
- group: ethernet
name: ip_config_mode
expert: false
type: enum
enumerated possible values: Static,DHCP
units: N/A
default value: 'Static'
readonly: false
Description: Ethernet configuration mode.
Notes: "If DHCP is chosen the IP address will be assigned automatically. Note: The DHCP assigned IP address cannot be viewed under the Settings tab, instead use the Advanced -> Networking Tab and click on 'Refresh Network Status'."
- group: ethernet
name: ip_address
expert: false
type: string
units: N/A
default value: '192.168.0.222'
readonly: false
Description: The static IP address.
Notes: "The configured IP address in XXX.XXX.XXX.XXX format. Note: If DHCP is used, the DHCP assigned IP address cannot be viewed under the Settings tab, instead use the Advanced -> Networking Tab and click on 'Refresh Network Status'."
- group: ethernet
name: netmask
expert: false
type: string
units: N/A
default value: '255.255.255.0'
readonly: false
Description: The netmask for the IP config.
Notes: The configured netmask in XXX.XXX.XXX.XXX format.
- group: ethernet
name: gateway
expert: false
type: string
units: N/A
default value: '192.168.0.1'
readonly: false
Description: The default gateway for the IP config.
Notes: The configured gateway in XXX.XXX.XXX.XXX format.
- group: ethernet
name: ip_address2
expert: true
type: string
units: N/A
default value: ''
readonly: false
Description: The secondary static IP address in XXX.XXX.XXX.XXX format.
Notes: Secondary IP is used only if the ip_config_mode is set to static and ip_address2 is set to a valid IP address on the same subnet as the main IP address.
- group: ext_event_a
name: edge_trigger
expert: false
type: enum
units: N/A
default value: None
readonly: false
enumerated possible values: None,Rising,Falling,Both
Description: Select edges to trigger timestamped event capture.
Notes: You can use this to record the exact time that some external
event in your system occurred, e.g. camera shutter time. Upon
detecting the event, receiver will generate a MSG_EXT_EVENT message
reporting the event, including a timestamp accurate to better than
a microsecond.
- group: ext_event_a
name: sensitivity
expert: false
type: integer
units: us (microseconds)
default value: '0'
readonly: false
enumerated possible values:
Description: Minimum time between events (0 = disabled).
Notes: Any event that is triggered within the sensitivity window after the previous event will be ignored and no MSG_EXT_EVENT will be generated.
- group: ext_event_b
name: edge_trigger
expert: true
type: enum
units: N/A
default value: None
readonly: false
enumerated possible values: None,Rising,Falling,Both
Description: Duro only. Select edges to trigger timestamped event capture.
Notes: You can use this to record the exact time that some external
event in your system occurred, e.g. camera shutter time. Upon
detecting the event, receiver will generate a MSG_EXT_EVENT message
reporting the event, including a timestamp accurate to better than
a microsecond.
- group: ext_event_b
name: sensitivity
expert: true
type: integer
units: us (microseconds)
default value: '0'
readonly: false
enumerated possible values:
Description: Duro only. Minimum time between events (0 = disabled).
Notes: Any event that is triggered within the sensitivity window after the previous event will be ignored and no MSG_EXT_EVENT will be generated.
- group: ext_event_c
name: edge_trigger
expert: true
type: enum
units: N/A
default value: None
readonly: false
enumerated possible values: None,Rising,Falling,Both
Description: Duro only. Select edges to trigger timestamped event capture.
Notes: You can use this to record the exact time that some external
event in your system occurred, e.g. camera shutter time. Upon
detecting the event, receiver will generate a MSG_EXT_EVENT message
reporting the event, including a timestamp accurate to better than
a microsecond.
- group: ext_event_c
name: sensitivity
expert: true
type: integer
units: us (microseconds)
default value: '0'
readonly: false
enumerated possible values:
Description: Duro only. Minimum time between events (0 = disabled).
Notes: Any event that is triggered within the sensitivity window after the previous event will be ignored and no MSG_EXT_EVENT will be generated.
- group: frontend
expert: false
name: antenna_selection
type: enum
units: N/A
default value: 'Primary'
readonly: false
enumerated possible values: Primary,Secondary
Description: Determines which antenna to use.
Notes: This setting selects the antenna input that should be used by the receiver.
Piksi Multi boards and Duro units ship with only a "Primary" antenna connector,
so this should always be set to "Primary."
- group: frontend
name: antenna_bias
expert: false
type: bool
units: N/A
default value: 'True'
readonly: false
Description: Enable/Disable 4.85V antenna bias.
Notes: Most active antennas require an antenna bias in order to power
the amplifier in the antenna.
- group: frontend
name: use_ext_clk
expert: false
type: bool
units: N/A
default value: 'False'
readonly: false
Description: Enable/Disable External Clock Input.
Notes: This setting toggles the hardware switch for Piksi Multi 10Mhz clock source.
When true, Piksi Multi will be configured to use an external clock source rather
than its onboard oscillator. It is only available on Piksi Multi hardware versions
greater than or equal to 5.1 (00108-05 rev 1). The external clock input signal can
be provided on the Piksi Multi evaluation board through a labeled SMA connector.
It is not exposed on Duro.
- group: frontend
name: activate_clock_steering
expert: true
type: bool
units: N/A
default value: 'False'
readonly: false
Description: Enable/Disable Clock Steering of RF frontend.
Notes: This setting toggles the clock steering for the RF frontend. If timing drift
is detected in the onboard oscillator, the clock will be continuously adjusted to align
more precisely with clock data encoded within the GNSS signals received by the device.
- group: imu
name: imu_raw_output
expert: false
type: boolean
default value: 'False'
readonly: false
Description: Enable/Disable IMU raw data output from onboard Bosch BMI160 IMU.
Notes: The IMU raw data can be seen in the Advanced Tab of the Swift Console.
The default enabled_sbp_messages settings on all interfaces decimate the
raw IMU messages sent by the device by a factor of 50 to reduce bandwidth.
- group: imu
name: imu_rate
expert: false
type: enum
default value: '100'
readonly: false
enumerated possible values: 25,50,100,200
units: Hz
Description: The data rate (in Hz) for IMU raw output.
Notes: It is recommended to use Ethernet or USB for IMU data output
for data rates over 25 Hz. Make sure that the rate is greater than that of
INS solutions.
- group: imu
name: acc_range
expert: false
type: enum
default value: '8'
readonly: false
enumerated possible values: 2,4,8,16
units: g
Description: The approximate range of accelerations that can be measured.
Notes: When 2 g is chosen, it means the accelerometer is scaled to measure
about +/- 2 g of acceleration. Refer to the IMU datasheet for detailed information.
- group: imu
name: gyro_range
expert: false
type: enum
default value: '125'
readonly: false
enumerated possible values: 125,250,500,1000,2000
units: deg/s
Description: The approximate range of angular rate that can be measured.
Notes: When 125 is chosen, it means the gyro is scaled to measure
about +/- 125 deg/s of angular rate. Refer to the IMU datasheet for detailed information.
- group: imu
name: mag_raw_output
expert: false
type: boolean
default value: 'False'
readonly: false
Description: Enable/Disable raw data output from onboard Bosch BMM150 Magnetometer.
Notes: The magnetometer raw data can be seen in the Advanced Tab of the Swift Console. imu.imu_raw_output must also be set to True for the magnetometer output to be enabled.
- group: imu
name: mag_rate
expert: false
type: enum
default value: '12.5'
readonly: false
enumerated possible values: 6.25,12.5,25
units: Hz
Description: The data rate (in Hz) for magnetometer raw output.
- group: ins
name: output_mode
expert: false
type: enum
units: N/A
default value: 'Disabled'
readonly: false
enumerated possible values: Disabled, Loosely Coupled
Description: Determines output mode of the inertial navigation outputs.
Notes: |
Disabled - output GNSS-only solutions.
Loosely Coupled - output loosely coupled solutions, utilizing GNSS and inertial data.
- group: ins
name: odometry_noise_1
expert: true
type: double
units: m/s
default value: '0.28'
readonly: false
Description: Noise parameter for odometry source 1
- group: ins
name: odometry_noise_2
expert: true
type: double
units: m/s
default value: '0.28'
readonly: false
Description: Noise parameter for odometry source 2
- group: ins
name: odometry_noise_3
expert: true
type: double
units: m/s
default value: '0.28'
readonly: false
Description: Noise parameter for odometry source 3
- group: ins
name: odometry_noise_4
expert: true
type: double
units: m/s
default value: '0.28'
readonly: false
Description: Noise parameter for odometry source 4
- group: ins
name: vehicle_frame_roll
expert: false
type: double
units: degrees
default value: '0'
readonly: false
Description: Roll angle representing rotation from vehicle frame to device frame.
Notes: The euler angles are applied extrinsically in order roll, pitch, then yaw
about the defined vehicle axes to describe how the vehicle should rotate to align
with the device frame as mounted in the vehicle. These rotations directly affect
body velocities, attitude outputs.
- group: ins
name: vehicle_frame_pitch
expert: false
type: double
units: degrees
default value: '0'
readonly: false
Description: Pitch angle representing rotation from vehicle frame to device frame.
Notes: The euler angles are applied extrinsically in order roll, pitch, then yaw
about the defined vehicle axes to describe how the vehicle should rotate to align
with the device frame as mounted in the vehicle. These rotations directly affect
body velocities, attitude outputs.
- group: ins
name: vehicle_frame_yaw
expert: false
type: double
units: degrees
default value: '0'
readonly: false
Description: Yaw angle representing rotation from vehicle frame to device frame.
Notes: The euler angles are applied extrinsically in order roll, pitch, then yaw
about the defined vehicle axes to describe how the vehicle should rotate to align
with the device frame as mounted in the vehicle. These rotations directly affect
body velocities, attitude outputs.
- group: ins
name: antenna_offset_x
expert: false
type: double
units: meters
default value: '0'
readonly: false
Description: X component of vector from device frame to antenna phase center
Notes: The vector is measured in the device frame according to the markings on the device.
- group: ins
name: antenna_offset_y
expert: false
type: double
units: meters
default value: '0'
readonly: false
Description: Y component of vector from device frame to antenna phase center
Notes: The vector is measured in the device frame according to the markings on the device.
- group: ins
name: antenna_offset_z
expert: false
type: double
units: meters
default value: '-0.12674'
readonly: false
Description: Z component of vector from device frame to antenna phase center
Notes: The vector is measured in the device frame according to the markings on the device. The default
value represents the offset from the Duro Device Frame to the antenna phase center when the antenna
mounting bracket shipped with Duro is in use.
- group: ins
name: vehicle_frame_offset_x
expert: false
type: double
units: meters
default value: '0'
readonly: false
Description: X component of vector from device frame to vehicle frame origin in which inertial outputs are provided
Notes: The vector is measured in the device frame according to the markings on the device. In order to output inertial solutions at the antenna phase center, this should be the same value (both sign and magnitude) as antenna_offset_x setting.
- group: ins
name: vehicle_frame_offset_y
expert: false
type: double
units: meters
default value: '0'
readonly: false
Description: Y component of vector from device frame to vehicle frame origin in which inertial outputs are provided
Notes: The vector is measured in the device frame according to the markings on the device. In order to output inertial solutions at the antenna phase center, this should be the same value (both sign and magnitude) as antenna_offset_x setting.
- group: ins
name: vehicle_frame_offset_z
expert: false
type: double
units: meters
default value: '-0.12674'
readonly: false
Description: Z component of vector from device frame to vehicle frame origin in which inertial outputs are provided
Notes: The vector is measured in the device frame according to the markings on the device. In order to output inertial solutions at the antenna phase center, this should be the same value (both sign and magnitude) as antenna_offset_x setting.
The default value represents vehicle outpus at the antenna phase center when the Duro antenna mounting bracket is in use.
- group: ins
name: constrain_vehicle_sideslip
expert: true
type: boolean
units: N/A
default value: false
readonly: false
Description: Experimental non-holonomic constraint feature that allows inertial system to make assumptions about vehicle dynamics
Notes: This settings should only be enabled provided the vehicle frame Euler angles are measured precisely and are correct. It assumes a vehicle can have no velocity in the direction aligned with the vehicle "y" axis (i.e no sideslip). This is a reasonable assumption for passenger vehicles and many tractors.
- group: ins
name: stillness_detection_enable
expert: true
type: boolean
units: N/A
default value: false
readonly: false
Description: Experimental stillness detection feature
Notes: This settings attempts to automatically determine that a particular vehicle is still based upon its vibration and dynamics profile. It can improve performance on vehicles when stopped and/or idling.
- group: ins
name: dr_duration_max
expert: false
type: double
units: seconds
default value: '600'
readonly: false
Description: Indicates the maximum duration in seconds for which the inertial system will dead reckon.
Notes: The default value of 600 seconds was chosen as the expected duration for which the Duro Inertial solution can maintain sub-meter accuracy.
- group: ins
name: dr_timeout_pos_stddev
expert: false
type: double
units: meters
default value: '20'
readonly: false
Description: Indicates the maximum standard deviation of position for which the inertial system will dead reckon.
Notes: The default value of 20 meters was chosen as the logical minimum standard of the position accuracy during dead reckon mode.
- group: ins
name: build_name
expert: true
type: string
units: N/A
default value: N/A
readonly: true
Description: inertial navigation system build name
- group: ins
name: build_date
expert: true
type: string
units: N/A
default value: N/A
readonly: true
Description: inertial navigation system build date
- group: ins
name: antenna_offset_deviation
type: double
units: meters
default value: '0.05'
readonly: False
Description: Standard deviation of antenna lever arm measurement.
Notes: |
Must be greater than 0.
This value should overestimate the actual expected error.
- group: ins
name: pos_std_deviation_cutoff_meters
expert: true
type: double
units: meters
default value: '30'
readonly: False
Description: GNSS position standard deviation cutoff - only solutions with a standard deviation lower than this will be used.
Notes: |
- group: ins
name: vehicle_frame_deviation
type: double
units: degrees
default value: '1'
readonly: False
Description: Standard deviation of misalignment measurement.
Notes: |
Must be greater than 0.
This value should overestimate the actual expected error.
- group: ins
name: fused_soln_freq
type: double
expert: False
units: hertz
default value: '10'
readonly: False
Description: Fusion engine output rate in Hertz.
Notes: Make sure that the rate is less than the imu rate.
- group: ins
name: solution_accuracy_confidence_level
type: enum
expert: true
units: percent
default value: '68'
readonly: False
enumerated possible values: 40,68
Description: Sets the confidence level for the message SBP MSG_LLH_ACC.
Notes: |
- group: ins
name: gyro_angular_random_walk_degpersqrth_sensorframe_x
type: double
expert: true
units: degrees per square root hour
default value: '.69'
readonly: False
Description: Angular rate white noise.
Notes: |
- group: ins
name: gyro_angular_random_walk_degpersqrth_sensorframe_y
type: double
expert: true
units: degrees per square root hour
default value: '.69'
readonly: False
Description: Angular rate white noise.
Notes: |
- group: ins
name: gyro_angular_random_walk_degpersqrth_sensorframe_z
type: double
expert: true
units: degrees per square root hour
default value: '.69'
readonly: False
Description: Angular rate white noise.
Notes: |
- group: ins
name: gyro_bias_instability_avar_degperh_sensorframe_x
type: double
expert: true
units: degrees per hour
default value: '10'
readonly: False
Description: Angular rate bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: gyro_bias_instability_avar_degperh_sensorframe_y
type: double
expert: true
units: degrees per hour
default value: '10'
readonly: False
Description: Angular rate bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: gyro_bias_instability_avar_degperh_sensorframe_z
type: double
expert: true
units: degrees per hour
default value: '10'
readonly: False
Description: Angular rate bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: accel_velocity_random_walk_microgpersqrtHz_sensorframe_x
type: double
expert: true
units: micro-g per square root hertz
default value: '177'
readonly: False
Description: Accelerometer white noise.
Notes: |
- group: ins
name: accel_velocity_random_walk_microgpersqrtHz_sensorframe_y
type: double
expert: true
units: micro-g per square root hertz
default value: '177'
readonly: False
Description: Accelerometer white noise.
Notes: |
- group: ins
name: accel_velocity_random_walk_microgpersqrtHz_sensorframe_z
type: double
expert: true
units: micro-g per square root hertz
default value: '177'
readonly: False
Description: Accelerometer white noise.
Notes: |
- group: ins
name: accel_bias_instability_avar_millig_sensorframe_x
type: double
expert: true
units: milli-g
default value: '0.3'
readonly: False
Description: Accelerometer bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: accel_bias_instability_avar_millig_sensorframe_y
type: double
expert: true
units: milli-g
default value: '0.3'
readonly: False
Description: Accelerometer bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: accel_bias_instability_avar_millig_sensorframe_z
type: double
expert: true
units: milli-g
default value: '0.3'
readonly: False
Description: Accelerometer bias instability as defined in an Allan Variance plot.
Notes: |
- group: ins
name: lowpass_filter_cutoff_hz
type: double
expert: true
units: gertz
default value: '1'
readonly: False
Description: The cut-off frequency of the low-pass filter (smaller than half the nominal_sample_rate_hz).
Notes: |
- group: ins
name: zupt_acceleration_threshold_mpers2
type: double
expert: true
units: meters per second squared
default value: '0.05'
readonly: False
Description: Maximum allowed acceleration while in ZUPT.
Notes: |
- group: ins
name: zupt_angular_rate_threshold_degpers
type: double
expert: true
units: degrees per second
default value: '0.3'
readonly: False
Description: Maximum allowed angular rate while in in ZUPT.
Notes: |
- group: ins
name: zupt_enable_partial_zerovel_update
type: boolean
expert: true
units:
default value: 'true'
readonly: False
Description: Enable partial zero-velocity update (ZUPT).
Notes: |
- group: ins
name: zupt_enable_full_zerovel_update
type: boolean
expert: true
units:
default value: 'true'
readonly: False
Description: Enable full zero-velocity update (ZUPT).
Notes: |