15 # standard calibration
24 # extended calibration
25 calibration_magn_use_extended: true
26 magn_ellipsoid_center: [328.442, 29.7813, -414.405]
27 magn_ellipsoid_transform: [[0.912198, -0.0995186, 0.00347704], [-0.0995186, 0.879227, 0.0332387], [0.00347704, 0.0332387, 0.892227]]
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