15 # standard calibration
24 # extended calibration
25 calibration_magn_use_extended: true
26 magn_ellipsoid_center: [253.780, 56.6661, -712.749]
27 magn_ellipsoid_transform: [[0.929568, 0.00880376, 0.0124014], [0.00880376, 0.949055, 0.00600124], [0.0124014, 0.00600124, 0.996672]]
29 # AHRS to robot calibration
30 imu_yaw_calibration: 0.0
33 gyro_average_offset_x: -29.0
34 gyro_average_offset_y: -21.0
35 gyro_average_offset_z: 4.0