# sampling rate (Hz)
data_rate = 1000.0

# model type: "Add" or "Mul"
err_mode = "Add"

[primary]
# gyro biases (deg/hr)
b_g = [0.2, 0.2, 0.2]
# accelerometer biases (milli-g)
b_a = [0.6, 0.6, 0.6]

# gyro scale factor (ppm)
s_g = [900.0, 900.0, 900.0]
# accelerometer scale factor (ppm)
s_a = [1000.0, 1000.0, 1000.0]

# gyro scale factor and cross coupling errors (ppm)
M_g = [
    0.0, 900.0, 900.0,
    900.0, 0.0, 900.0,
    900.0, 900.0, 0.0
]
# accelerometer scale factor and cross coupling errors (ppm)
M_a = [
    0.0, 1000.0, 1000.0,
    1000.0, 0.0, 1000.0,
    1000.0, 1000.0, 0.0
]

# gyro ARW (deg per root Hz)
arw = [0.06, 0.06, 0.06]
# accelerometer VRW (milli-g per root Hz)
vrw = [0.24, 0.24, 0.24]

## gyro g-dependent biases (deg/hour/g)
## not used now; kept for future...
#G_g = [
#    0, 0, 0,
#    0, 0, 0,
#    0, 0, 0
#]
