15 # standard calibration
24 # extended calibration
25 calibration_magn_use_extended: true
26 magn_ellipsoid_center: [281.573, 61.3150, -400.087]
27 magn_ellipsoid_transform: [[0.862755, 0.0531029, 0.0318686], [0.0531029, 0.944888, 0.0445345], [0.0318686, 0.0445345, 0.899048]]
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