About AHRS Initilization

zijiechenrobotics / ig_lio

iG-LIO: An Incremental GICP-based Tightly-coupled LiDAR-inertial Odometry

GNU General Public License v2.0

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Open satyajitghana opened 3 months ago

satyajitghana commented 3 months ago

enable_ahrs_initalization: Set true or false. If the IMU message has orientation channel, iG-LIO can be initialized via AHRS.

I didn't understand this, what orientation? is this about a 9 axis IMU?