minor fixes
[ros_wild_thumper.git] / cfg / razor.yaml
1 ## USB port
2 port: /dev/ttyUSB0
3
4
5 ##### Calibration ####
6 ### accelerometer
7 accel_x_min: -275
8 accel_x_max: 290
9 accel_y_min: -295
10 accel_y_max: 275
11 accel_z_min: -295
12 accel_z_max: 215
13
14 ### magnetometer
15 # standard calibration
16 magn_x_min: -470
17 magn_x_max: 542
18 magn_y_min: -767
19 magn_y_max: 523
20 magn_z_min: -417
21 magn_z_max: 596
22
23
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]]
28
29
30 # AHRS to robot calibration
31 imu_yaw_calibration: 0.0
32
33 ### gyroscope
34 gyro_average_offset_x: -29.0
35 gyro_average_offset_y: -21.0
36 gyro_average_offset_z: 4.0