## 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: [45.6927, 172.209, 376.478]
magn_ellipsoid_transform: [[0.994730, 0.00431208, -0.0112894], [0.00431208, 0.981610, 0.00532676], [-0.0112894, 0.00532676, 0.974786]]

# 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