X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=config%2Frazor.yaml;h=cd29f079685edd31eab4218928e0bcf19dc2c3fc;hp=cb811489041b44e820db603bcb82afc05fef83b9;hb=2e1412681f31d74d078d532915017a22281bbcc1;hpb=5bd96ab44a206b5e85d0f70213046d356f39eef2

diff --git a/config/razor.yaml b/config/razor.yaml
index cb81148..cd29f07 100644
--- a/config/razor.yaml
+++ b/config/razor.yaml
@@ -4,32 +4,32 @@ port: /dev/ttyUSB0
 
 ##### Calibration ####
 ### accelerometer
-accel_x_min: -275
-accel_x_max: 290
-accel_y_min: -295
-accel_y_max: 275
-accel_z_min: -295
-accel_z_max: 215
+accel_x_min: -285
+accel_x_max: 280
+accel_y_min: -293
+accel_y_max: 273
+accel_z_min: -298
+accel_z_max: 218
 
 ### magnetometer
 # standard calibration
-magn_x_min: -470
-magn_x_max: 542
-magn_y_min: -767
-magn_y_max: 523
-magn_z_min: -417
-magn_z_max: 596
+magn_x_min: -259
+magn_x_max: 848
+magn_y_min: -448
+magn_y_max: 565
+magn_z_min: -954
+magn_z_max: 150
 
 
 # extended calibration
 calibration_magn_use_extended: true
-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]]
+magn_ellipsoid_center: [273.816, 45.5562, -410.533]
+magn_ellipsoid_transform: [[0.913987, 0.0421156, 0.0394039], [0.0421156, 0.953725, 0.0238406], [0.0394039, 0.0238406, 0.909422]]
 
 # AHRS to robot calibration
 imu_yaw_calibration: 0.0
 
 ### gyroscope
-gyro_average_offset_x: -29.0
-gyro_average_offset_y: -21.0
-gyro_average_offset_z: 4.0
+gyro_average_offset_x: -42.24
+gyro_average_offset_y: -24.73
+gyro_average_offset_z: -21.86