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feat(hangar_sim): enable fuse velocity_decay to prevent drift after nav2 stops #674

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Merged
griswaldbrooks merged 2 commits into from
Jun 5, 2026
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feat(hangar_sim): enable fuse velocity_decay to prevent drift after nav2 stops #674

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feat(hangar_sim): enable velocity_decay in fuse to stop drift after n…
bkanator May 29, 2026
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docs(hangar_sim): clarify velocity_decay value rationale in comment
bkanator Jun 2, 2026
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5 changes: 5 additions & 0 deletions src/hangar_sim/config/fuse/fuse.yaml
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Expand Up @@ -19,6 +19,11 @@ 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. k=1.0 chosen so velocity is ~95% decayed
# within 3s — long enough to not affect normal driving, short enough to kill post-nav2 drift.
velocity_decay: 1.0
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sensor_models:
initial_localization_sensor:
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