# extended calibration
calibration_magn_use_extended: true
-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]]
+magn_ellipsoid_center: [293.553, 46.4419, -692.900]
+magn_ellipsoid_transform: [[0.939516, 0.0193393, 0.0340815], [0.0193393, 0.957723, 0.0120572], [0.0340815, 0.0120572, 0.966198]]
+
# AHRS to robot calibration
imu_yaw_calibration: 0.0