From: Erik Andresen <erik@vontaene.de>
Date: Sat, 11 Jul 2015 06:32:49 +0000 (+0200)
Subject: new magnetometer calibration
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=67442b2a9cc0d3110380fba786b4e9291db7f615;hp=d63dbc679f47b3d479e6e46fea01e5ee04bbd7ca

new magnetometer calibration
---

diff --git a/cfg/razor.yaml b/cfg/razor.yaml
index 264e6b6..e5b9537 100644
--- 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: [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]]
+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: 0.0