odometry tuning

[ros_wild_thumper.git] / cfg / razor.yaml

diff --git a/cfg/razor.yaml b/cfg/razor.yaml
index 9bcfeed5b7452a39fac75f846cb2ffdde0bfb3e8..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
-magn_ellipsoid_center: [45.6927, 172.209, 376.478]
-magn_ellipsoid_transform: [[0.994730, 0.00431208, -0.0112894], [0.00431208, 0.981610, 0.00532676], [-0.0112894, 0.00532676, 0.974786]]
+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