From 259fb3ba7197886d34d82df3b3a48d6230d1aa14 Mon Sep 17 00:00:00 2001 From: Breelyn Styler Date: Thu, 28 May 2026 22:08:07 -0400 Subject: [PATCH] feat(hangar_sim): enable velocity_decay in fuse to stop drift after nav2 stops --- src/hangar_sim/config/fuse/fuse.yaml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/hangar_sim/config/fuse/fuse.yaml b/src/hangar_sim/config/fuse/fuse.yaml index 3a9ad2b43..4f7dedcea 100644 --- a/src/hangar_sim/config/fuse/fuse.yaml +++ b/src/hangar_sim/config/fuse/fuse.yaml @@ -19,6 +19,10 @@ state_estimator: #process_noise_diagonal: [0.25, 0.25, 0.00001, 0.00001, 0.00001, 0.25 # -, 0.1, 0.1, 0.00001, 0.00001, 0.0001, 0.1, 0.0001, 0.0001, 0.00001] process_noise_diagonal: [1.0, 1.0, 0.0001, 0.0001, 0.0001, 0.5, 0.5, 0.5, 0.0001, 0.0001, 0.0001, 0.25, 0.00001, 0.00001, 0.00001] + # Exponential velocity decay rate (1/s). Predicted velocity decays toward zero when the + # odometry source goes silent (e.g., after a nav2 controller deactivates), preventing + # indefinite drift. Set to 0.0 to disable. With k=1.0, velocity halves in ~0.7s. + velocity_decay: 1.0 sensor_models: initial_localization_sensor: