## USB port port: /dev/ttyUSB0 ##### Calibration #### ### accelerometer accel_x_min: -275 accel_x_max: 290 accel_y_min: -295 accel_y_max: 275 accel_z_min: -295 accel_z_max: 215 ### magnetometer # standard calibration magn_x_min: -470 magn_x_max: 542 magn_y_min: -767 magn_y_max: 523 magn_z_min: -417 magn_z_max: 596 # extended calibration calibration_magn_use_extended: true magn_ellipsoid_center: [314.663, 115.689, -632.692] magn_ellipsoid_transform: [[0.937505, 0.0217526, 0.0102850], [0.0217526, 0.936649, 0.0279058], [0.0102850, 0.0279058, 0.980535]] # AHRS to robot calibration imu_yaw_calibration: 0.0 ### gyroscope gyro_average_offset_x: -29.0 gyro_average_offset_y: -21.0 gyro_average_offset_z: 4.0