15 # standard calibration
24 # extended calibration
25 calibration_magn_use_extended: true
26 magn_ellipsoid_center: [-32.6801, 82.7799, 142.354]
27 magn_ellipsoid_transform: [[0.993252, 0.00616743, -0.00945049], [0.00616743, 0.990730, -0.000356148], [-0.00945049, -0.000356148, 0.964502]]
29 # AHRS to robot calibration
30 imu_yaw_calibration: 180.0
33 gyro_average_offset_x: -29.0
34 gyro_average_offset_y: -21.0
35 gyro_average_offset_z: 4.0