Added script to follow coordinates from another gpsd
[ros_wild_thumper.git] / config / razor.yaml
1 ## USB port
2 port: /dev/ttyUSB0
3
4
5 ##### Calibration ####
6 ### accelerometer
7 accel_x_min: -285
8 accel_x_max: 280
9 accel_y_min: -293
10 accel_y_max: 273
11 accel_z_min: -298
12 accel_z_max: 218
13
14 ### magnetometer
15 # standard calibration
16 magn_x_min: -259
17 magn_x_max: 848
18 magn_y_min: -448
19 magn_y_max: 565
20 magn_z_min: -954
21 magn_z_max: 150
22
23
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]]
28
29 # AHRS to robot calibration
30 imu_yaw_calibration: 0.0
31
32 ### gyroscope
33 gyro_average_offset_x: -42.24
34 gyro_average_offset_y: -24.73
35 gyro_average_offset_z: -21.86