## 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: [-32.6801, 82.7799, 142.354] magn_ellipsoid_transform: [[0.993252, 0.00616743, -0.00945049], [0.00616743, 0.990730, -0.000356148], [-0.00945049, -0.000356148, 0.964502]] # AHRS to robot calibration imu_yaw_calibration: 180.0 ### gyroscope gyro_average_offset_x: -29.0 gyro_average_offset_y: -21.0 gyro_average_offset_z: 4.0