screen output format

[LiShuaixin]

Hi, thanks for you sharing this useful tools for imu calibration. I got the screen output as follow:

gyr x numData 1800038
gyr x start_t 1556184268.3
gyr x end_t 1556193268.3
gyr x dt
-------------9000.0059781 s
-------------150.00009964 min
-------------2.5000016606 h
gyr x freq 200.00397826
gyr x period 0.0049999005454
gyr y numData 1800038
gyr y start_t 1556184268.3
gyr y end_t 1556193268.3
gyr y dt
-------------9000.0059781 s
-------------150.00009964 min
-------------2.5000016606 h
gyr y freq 200.00397826
gyr y period 0.0049999005454
gyr z numData 1800038
gyr z start_t 1556184268.3
gyr z end_t 1556193268.3
gyr z dt
-------------9000.0059781 s
-------------150.00009964 min
-------------2.5000016606 h
gyr z freq 200.00397826
gyr z period 0.0049999005454
Gyro X
C -0.099920838813 28.490389921 1.5455111778 0.51580360849 -0.0086117795421
Bias Instability 6.0631970955e-05 rad/s
Bias Instability 4.2062922657e-05 rad/s, at 273.1395669 s
White Noise 7.1027709951 rad/s
White Noise 0.0020542192307 rad/s
bias -0.089998038576 degree/s

Gyro y
C -0.059395830334 24.674860857 2.6075862472 0.57323407414 -0.005207913812
Bias Instability 7.3624480757e-05 rad/s
Bias Instability 5.3119251485e-05 rad/s, at 72.218563478 s
White Noise 6.1595988239 rad/s
White Noise 0.0018456925992 rad/s
bias 0.13329643892 degree/s

Gyro z
C -0.11658736167 32.471273953 1.5661373544 0.76810287455 -0.013088308452
Bias Instability 7.5638356388e-05 rad/s
Bias Instability 5.345507916e-05 rad/s, at 160.4318088 s
White Noise 8.0914410162 rad/s
White Noise 0.0023573599741 rad/s
bias -0.070055603425 degree/s

==============================================

acc x numData 1800038
acc x start_t 1556184268.3
acc x end_t 1556193268.3
acc x dt
-------------9000.0059781 s
-------------150.00009964 min
-------------2.5000016606 h
acc x freq 200.00397826
acc x period 0.0049999005454
acc y numData 1800038
acc y start_t 1556184268.3
acc y end_t 1556193268.3
acc y dt
-------------9000.0059781 s
-------------150.00009964 min
-------------2.5000016606 h
acc y freq 200.00397826
acc y period 0.0049999005454
acc z numData 1800038
acc z start_t 1556184268.3
acc z end_t 1556193268.3
acc z dt
-------------9000.0059781 s
-------------150.00009964 min
-------------2.5000016606 h
acc z freq 200.00397826
acc z period 0.0049999005454
acc X
C -6.1776535302e-06 0.00068497858343 1.9159346636e-05 1.4588737539e-05 -2.5691026523e-07
Bias Instability 0.00024834529566 m/s^2
White Noise 0.01039926068 m/s^2

acc y
C -3.4097430596e-06 0.00065824224613 -3.8951534751e-05 1.2841755763e-05 -2.1032012737e-07
Bias Instability 0.00011952580247 m/s^2
White Noise 0.009196136191 m/s^2

acc z
C 6.8357670086e-06 0.00051289860225 -1.4456216555e-06 1.2556264816e-05 -1.6521435798e-07
Bias Instability 0.00020453908581 m/s^2
White Noise 0.0075797476485 m/s^2

the output is not as the same as screen output in README. there are two 'White Noise' for gyro. Which of them is the true gyr_n?

I also found there are Bias Instability and bias for gyro. Which of them is the true gyr_w?

Can anybody help? many thanks!

[julianrobot]

it will generate a yaml file,this file is as the same as screen output in README.