%YAML:1.0 # need to specify the file type at the top!

imu0:
  T_i_b:
    - [1.0, 0.0, 0.0, 0.0]
    - [0.0, 1.0, 0.0, 0.0]
    - [0.0, 0.0, 1.0, 0.0]
    - [0.0, 0.0, 0.0, 1.0]
  accelerometer_noise_density: 0.00333388 # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
  accelerometer_random_walk: 0.00047402   # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )
  gyroscope_noise_density: 0.00005770     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
  gyroscope_random_walk: 0.00001565       # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
#  accelerometer_noise_density: 0.07   # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
#  accelerometer_random_walk: 0.009   # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )
#  gyroscope_noise_density: 0.001      # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
#  gyroscope_random_walk: 0.0003      # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
  model: calibrated
  rostopic: /mavros/imu/data
  time_offset: 0.0
  update_rate: 100.0