## USB port port: /dev/ttyUSB0 ##### Calibration #### ### accelerometer accel_x_min: -285 accel_x_max: 280 accel_y_min: -293 accel_y_max: 273 accel_z_min: -298 accel_z_max: 218 ### magnetometer # standard calibration magn_x_min: -259 magn_x_max: 848 magn_y_min: -448 magn_y_max: 565 magn_z_min: -954 magn_z_max: 150 # extended calibration calibration_magn_use_extended: true magn_ellipsoid_center: [273.816, 45.5562, -410.533] magn_ellipsoid_transform: [[0.913987, 0.0421156, 0.0394039], [0.0421156, 0.953725, 0.0238406], [0.0394039, 0.0238406, 0.909422]] # AHRS to robot calibration imu_yaw_calibration: 0.0 ### gyroscope gyro_average_offset_x: -42.24 gyro_average_offset_y: -24.73 gyro_average_offset_z: -21.86