X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=cfg%2Frazor.yaml;h=e5b9537a6cf6ba55d29f4fc5cd4eb2448179f18a;hp=20bffbc832da58a4f65edab4013b5080cea58644;hb=67442b2a9cc0d3110380fba786b4e9291db7f615;hpb=ec7e66f2738f95171aefdb475eb3f269955abb77

diff --git a/cfg/razor.yaml b/cfg/razor.yaml
index 20bffbc..e5b9537 100644
--- a/cfg/razor.yaml
+++ b/cfg/razor.yaml
@@ -23,11 +23,11 @@ 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: [160.015, 50.2447, -553.648]
+magn_ellipsoid_transform: [[0.974956, 0.0105402, 0.00775436], [0.0105402, 0.959976, 0.0214636], [0.00775436, 0.0214636, 0.980418]]
 
 # AHRS to robot calibration
-imu_yaw_calibration: 180.0
+imu_yaw_calibration: 0.0
 
 ### gyroscope
 gyro_average_offset_x: -29.0