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