fix spelling error

[ros_wild_thumper.git] / scripts / tinkerforge_imu2.py

diff --git a/scripts/tinkerforge_imu2.py b/scripts/tinkerforge_imu2.py
index fa00c26c782c08b1aa3921c7fcc81f89860d1e64..2cf42b2e710bb4f7d766030de7b89f46a9261925 100755 (executable)
--- a/scripts/tinkerforge_imu2.py
+++ b/scripts/tinkerforge_imu2.py
@@ -52,18 +52,18 @@ class ImuBrickv2:
                msg.angular_velocity.x = angular_velocity[0]/16.0
                msg.angular_velocity.y = angular_velocity[1]/16.0
                msg.angular_velocity.z = angular_velocity[2]/16.0
                msg.angular_velocity.x = angular_velocity[0]/16.0
                msg.angular_velocity.y = angular_velocity[1]/16.0
                msg.angular_velocity.z = angular_velocity[2]/16.0

-               # Observed angular velocity variance: 0.006223 (10k samples), => round up to 0.01
+               # Observed angular velocity variance: 0.006223 (10k samples), => round up to 0.02

                msg.angular_velocity_covariance = [
                msg.angular_velocity_covariance = [

-                       0.01, 0   , 0,
-                       0   , 0.01, 0,
-                       0   , 0   , 0.01
+                       0.02, 0   , 0,
+                       0   , 0.02, 0,
+                       0   , 0   , 0.02

                ]
 
                msg.linear_acceleration.x = linear_acceleration[0]/100.0
                msg.linear_acceleration.y = linear_acceleration[1]/100.0
                msg.linear_acceleration.z = linear_acceleration[2]/100.0
                # Observed linear acceleration variance: 0.001532 (10k samples)
                ]
 
                msg.linear_acceleration.x = linear_acceleration[0]/100.0
                msg.linear_acceleration.y = linear_acceleration[1]/100.0
                msg.linear_acceleration.z = linear_acceleration[2]/100.0
                # Observed linear acceleration variance: 0.001532 (10k samples)

-               # Calculation for variance raken from razor imu:
+               # Calculation for variance taken from razor imu:

                # nonliniarity spec: 1% of full scale (+-2G) => 0.2m/s^2
                # Choosing 0.2 as std dev, variance = 0.2^2 = 0.04
                msg.linear_acceleration_covariance = [
                # nonliniarity spec: 1% of full scale (+-2G) => 0.2m/s^2
                # Choosing 0.2 as std dev, variance = 0.2^2 = 0.04
                msg.linear_acceleration_covariance = [