#Default imu sensor yaml file
sensor_type: imu
comment: VI-Sensor IMU (ADIS16448)

# Sensor extrinsics wrt. the body-frame.
T_BS:
  cols: 4
  rows: 4
  data: [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]
rate_hz: 200

# inertial sensor noise model parameters (static)
gyroscope_noise_density: 1.6968e-04     # [ rad / s / sqrt(Hz) ]   ( gyro "white noise" )
gyroscope_random_walk: 1.9393e-05       # [ rad / s^2 / sqrt(Hz) ] ( gyro bias diffusion )
accelerometer_noise_density: 2.0000e-3  # [ m / s^2 / sqrt(Hz) ]   ( accel "white noise" )
accelerometer_random_walk: 3.0000e-3    # [ m / s^3 / sqrt(Hz) ].  ( accel bias diffusion )