[koide3]

No description provided.

[Copilot]

🟡 Changes recommended

The initialization path invokes on_update_new_frame before the estimator has performed its “corrected” update, conflicting with the callback’s documented semantics and causing an incorrect/duplicate update event.

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Pull request overview

Updates IMU-related odometry configuration and factor construction to support separate accelerometer vs gyroscope bias random-walk noise, and refreshes config/docs to reflect the new parameters.

Changes:

• Split IMU bias noise into imu_bias_noise_acc and imu_bias_noise_gyro (with backward-compatible support for deprecated imu_bias_noise).
• Construct bias random-walk noise as a 6D diagonal noise model with separate accel/gyro sigmas scaled by sqrt(dt).
• Update sensor config documentation/keys and clarify IMU noise units in headers.

File summaries

File	Description
src/glim/odometry/odometry_estimation_imu.cpp	Reads separate bias noise params and applies them in the bias BetweenFactor; adds an extra callback invocation.
include/glim/odometry/odometry_estimation_imu.hpp	Replaces single imu_bias_noise with accel/gyro bias noise parameters.
include/glim/common/imu_integration.hpp	Clarifies accelerometer/gyroscope noise density units in comments.
config/config_sensors.json	Documents and provides new imu_bias_noise_acc / imu_bias_noise_gyro keys; marks imu_bias_noise deprecated.

Review details

• Files reviewed: 4/4 changed files
• Comments generated: 1
• Review effort level: Lite

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