config update comments

config/navtech_warthog_default.yaml

@@ -64,7 +64,7 @@
         - extraction
         - filtering
       odometry:
-        - gyro
+        - gyro # you can turn off gyro and preintegration here
         - preintegration
         - icp
         - mapping
@@ -90,7 +90,7 @@
         # TODO: make cart_resolution an integer mult of radar_resolution
         cart_resolution: 0.2384 # m/pixel of BEV Cartesian radar image
         beta: 0.0 # Doppler correction factor (set to 0 to turn this off)
-        range_offset: -0.319910 # range offset in meters -0.220240    -0.3088
+        range_offset: -0.319910 # range offset in meters -0.220240  -0.3088
         kstrong:
           kstrong: 4 # k-strongest per azimuth to retain was 12
           threshold2: 0.0 # threshold for k-strongest (mult of mean)
@@ -132,7 +132,7 @@
         frame_voxel_size: 1.0
 
         window_size: 3.0 # number of neighboring azimuths used to compute line normal
-        aximuth_res: 0.015707963267948967 # azimuth resolution in radians (0.1 in degree), giveng M=400
+        aximuth_res: 0.015707963267948967 # azimuth resolution in radians (0.1 in degree), giveng M=400 2pi/400 = 0.015707963267948967
         rho_scale: 1.0 # when finding neighbors, set rho to log(rho) / rho_scale
 
         num_sample_linearity: 5000 # max number of sample after filtering based on linearity