X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=cfg%2Frazor.yaml;h=228ff74951301f8189cd73025c710ccd267a92b3;hp=20bffbc832da58a4f65edab4013b5080cea58644;hb=9349f21c7fb8f1629fe4154cc054fc894a9e600d;hpb=7eb812cb0e80682d3266da4edac105c288f6ef16

diff --git a/cfg/razor.yaml b/cfg/razor.yaml
index 20bffbc..228ff74 100644
--- a/cfg/razor.yaml
+++ b/cfg/razor.yaml
@@ -23,11 +23,12 @@ magn_z_max: 596
 
 # 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: [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: 180.0
+imu_yaw_calibration: 0.0
 
 ### gyroscope
 gyro_average_offset_x: -29.0