Is choosing eps reasonable？

[scott198510]

ekinox_gnss.eps = mean(diff(mpu6000_imu.t)) / 2; % A rule of thumb for choosing eps.

In old code, ekinox_gnss.eps = 0.0025

In new codes, ekinox_gnss.eps =0.002

But in my opinion，ekinox_gnss.eps = 0.6 *mean(diff(mpu6000_imu.t)) is best, set multiplier to 0.5, that is not reasonable The multiplier should be a little larger than 0.5.

You can compare the first index gdx in ins_gnss, that is different. @rodralez

[rodralez]

If you set,

ekinox_gnss.eps = 0.6 *mean(diff(mpu6000_imu.t))

the eps time window is too big and NaveGo executes the same epoch twice, which is an increase in computation time. Please, uncomment line 321 in function ins_gnss and check.

Kind regards.