In Stereo+IMU mode, the EuRoC V102 trajectory jumps a lot!

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Thanks for your sharing!
I customize below three config files for EuRoC V102 dataset, and test your binary:
The launch file:

The calib file:

The param file:

And the test completely runs to the end of the dataset, however, the trajectory jumps in the middle part, and I cannot get a continuous trajectory. Below is my running:

Can I know the reason why this happened? Do I give the wrong params, e.g. params of the IMU?