config/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: [275.555, 42.7157, -390.911]
  27 magn_ellipsoid_transform: [[0.933345, -0.0570043, 0.0301076], [-0.0570043, 0.950937, 0.0283306], [0.0301076, 0.0283306, 0.965042]]
  28
  29 # AHRS to robot calibration
  30 imu_yaw_calibration: 0.0
  31
  32 ### gyroscope
  33 gyro_average_offset_x: -29.0
  34 gyro_average_offset_y: -21.0
  35 gyro_average_offset_z: 4.0