15 # standard calibration
24 # extended calibration
25 calibration_magn_use_extended: true
26 magn_ellipsoid_center: [273.816, 45.5562, -410.533]
27 magn_ellipsoid_transform: [[0.913987, 0.0421156, 0.0394039], [0.0421156, 0.953725, 0.0238406], [0.0394039, 0.0238406, 0.909422]]
29 # AHRS to robot calibration
30 imu_yaw_calibration: 0.0
33 gyro_average_offset_x: -42.24
34 gyro_average_offset_y: -24.73
35 gyro_average_offset_z: -21.86