odometry tuning

[ros_wild_thumper.git] / cfg / razor.yaml

diff --git a/cfg/razor.yaml b/cfg/razor.yaml
index 20bffbc832da58a4f65edab4013b5080cea58644..264e6b6b94646892be65f13ca949de6e2848e9a1 100644 (file)
--- a/cfg/razor.yaml
+++ b/cfg/razor.yaml
@@ -23,11 +23,11 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
 
 # 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: [192.863, 93.3924, -413.187]
+magn_ellipsoid_transform: [[0.969535, 0.00462330, 0.0198726], [0.00462330, 0.964774, 0.0291415], [0.0198726, 0.0291415, 0.957085]]

 
 # AHRS to robot calibration
 
 # AHRS to robot calibration

-imu_yaw_calibration: 180.0
+imu_yaw_calibration: 0.0

 
 ### gyroscope
 gyro_average_offset_x: -29.0
 
 ### gyroscope
 gyro_average_offset_x: -29.0