@sam-zzy 可以看一下底层驱动源码，里面有这几个参数：
preferences.putString("calib_mx", CONFIG_DEFAULT_KINEMATIC_ODOM_CALIB_MX); preferences.putString("calib_dx", CONFIG_DEFAULT_KINEMATIC_ODOM_CALIB_DX); preferences.putString("calib_myaw", CONFIG_DEFAULT_KINEMATIC_ODOM_CALIB_MYAW); preferences.putString("calib_dyaw", CONFIG_DEFAULT_KINEMATIC_ODOM_CALIB_DYAW);用配置助手配置就可以了