15 # standard calibration
24 # extended calibration
25 calibration_magn_use_extended: true
26 magn_ellipsoid_center: [293.553, 46.4419, -692.900]
27 magn_ellipsoid_transform: [[0.939516, 0.0193393, 0.0340815], [0.0193393, 0.957723, 0.0120572], [0.0340815, 0.0120572, 0.966198]]
30 # AHRS to robot calibration
31 imu_yaw_calibration: 0.0
34 gyro_average_offset_x: -29.0
35 gyro_average_offset_y: -21.0
36 gyro_average_offset_z: 4.0