## 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: [275.555, 42.7157, -390.911] magn_ellipsoid_transform: [[0.933345, -0.0570043, 0.0301076], [-0.0570043, 0.950937, 0.0283306], [0.0301076, 0.0283306, 0.965042]] # 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