odometry tuning

[ros_wild_thumper.git] / cfg / razor.yaml

diff --git a/cfg/razor.yaml b/cfg/razor.yaml
index 65d6d448d7e899f5358db03bbdcea1d045048a39..264e6b6b94646892be65f13ca949de6e2848e9a1 100644 (file)
--- a/cfg/razor.yaml
+++ b/cfg/razor.yaml
@@ -23,8 +23,8 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
 
 # extended calibration
 calibration_magn_use_extended: true

-magn_ellipsoid_center: [164.907, 212.010, 16.4033]
-magn_ellipsoid_transform: [[0.977989, 0.00268088, 0.0115993], [0.00268088, 0.974660, 0.0151645], [0.0115993, 0.0151645, 0.982901]]
+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
 imu_yaw_calibration: 0.0
 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0