When I set 'imu_en' to false, will drift as soon as vehicle move

[qpc001]

[qpc001]

[Joanna-HE]

Hi, when you set the imu_en to false, you should provide a predefined value (as true as possible) of gravity to Point-LIO and turn the gravity_align as false.

[Joanna-HE]

The predefined value of gravity should be given to "gravity_init" in the yaml file.

[qpc001]

The predefined value of gravity should be given to "gravity_init" in the yaml file.gravity的预定义值应提供给yaml文件中的“gravity_init”。

I did it, and it can run a short time like 10s, then drift like before.

[Joanna-HE]

"gravity_init" is the gravity value with respect to the first IMU frame. And this value only needs to be set when "start_in_aggressive_motion" is true.

Could you show me more details about your data and the way you set the “gravity_init”？

Best regards,

Dongjiao He

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寄件者: qpc001 @.> 寄件日期: 2023年6月30日 下午 02:20 收件者: hku-mars/Point-LIO @.> 副本: @.*** @.>; Comment @.> 主旨: Re: [hku-mars/Point-LIO] When I set 'imu_en' to false, will drift as soon as vehicle move (Issue #34)

The predefined value of gravity should be given to "gravity_init" in the yaml file.gravity的预定义值应提供给yaml文件中的“gravity_init”。

I did it, and it can run a short time like 10s, then drift like before.

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