15 # standard calibration
24 # extended calibration
25 calibration_magn_use_extended: true
26 magn_ellipsoid_center: [302.374, 39.5765, -397.215]
27 magn_ellipsoid_transform: [[0.924637, -0.0539937, 0.0408358], [-0.0539937, 0.958933, 0.0208039], [0.0408358, 0.0208039, 0.947891]]
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