# 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]]
+magn_ellipsoid_center: [310.164, 110.637, -618.788]
+magn_ellipsoid_transform: [[0.945780, 0.0107359, 0.0132698], [0.0107359, 0.947108, 0.0240015], [0.0132698, 0.0240015, 0.982784]]
# AHRS to robot calibration
-imu_yaw_calibration: 180.0
+imu_yaw_calibration: 0.0
### gyroscope
gyro_average_offset_x: -29.0