magnetic field

yaml/M600a/sensor_bno_compass.yaml

@@ -8,5 +8,5 @@ follow: "../magnetic_field.yaml"
 
 # calibration
 bias_prior_mode: "factor"
-bias_prior_state: [0, 0, 0]
+bias_prior_state: [-14.1013377658, 4.9964863248, 38.723155555]
 bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file

yaml/M600b/sensor_bno_compass.yaml

@@ -8,5 +8,5 @@ follow: "../magnetic_field.yaml"
 
 # calibration
 bias_prior_mode: "factor"
-bias_prior_state: [0, 0, 0]
+bias_prior_state: [-14.1013377658, 4.9964863248, 38.723155555]
 bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file

yaml/atlantic/sensor_bno_compass.yaml

@@ -8,5 +8,5 @@ follow: "../magnetic_field.yaml"
 
 # calibration
 bias_prior_mode: "factor"
-bias_prior_state: [0, 0, 0]
+bias_prior_state: [-14.1013377658, 4.9964863248, 38.723155555]
 bias_prior_sigma: [0.3, 0.3, 0.3]
\ No newline at end of file

yaml/magnetic_field.yaml

@@ -2,5 +2,7 @@
 # N: 26,943.4 nT   E: 43.1 nT   D: 34,827.0 nT
 # E: 0.0431 uT     N: 26.9 uT   U: -34.8 uT
 field_prior_mode: "fix"
-field_prior_state: [0.0431, 26.9, -34.8] # measured [7.9, -20.2, -58.8] 
+#field_prior_state: [0.0431, 26.9, -34.8]
+# computed from measurements: 
+field_prior_state: [-17.2, 71.8, 4.5]
 #field_prior_sigma: [10, 10, 10]
\ No newline at end of file