motor_ctrl: tune odometry from umbmark

[ros_wild_thumper.git] / config / razor.yaml

diff --git a/config/razor.yaml b/config/razor.yaml
index d6413adf3450a980ba08e8f21fe0b8b9d95754ae..cb811489041b44e820db603bcb82afc05fef83b9 100644 (file)
--- a/config/razor.yaml
+++ b/config/razor.yaml
@@ -23,8 +23,8 @@ magn_z_max: 596
 
 # extended calibration
 calibration_magn_use_extended: true
-magn_ellipsoid_center: [344.256, 18.1668, -330.980]
-magn_ellipsoid_transform: [[0.838154, 0.00504547, 0.0313606], [0.00504547, 0.989158, 0.0278265], [0.0313606, 0.0278265, 0.916270]]
+magn_ellipsoid_center: [328.442, 29.7813, -414.405]
+magn_ellipsoid_transform: [[0.912198, -0.0995186, 0.00347704], [-0.0995186, 0.879227, 0.0332387], [0.00347704, 0.0332387, 0.892227]]
 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0