Hi folks, I’m setting up a UTV for waypoint navigation and am completely stumped on how to get decent heading data for it. I have a Cube Orange, a u-Blox Zed F9P Sparkfun GPS breakout, and a LIS3MDL external magnetometer. The magnetometer is unreliable and I can’t seem to get an RTK fix out of the F9P, or else I would be tempted to try setting up GPS yaw. Using the mag or GSF for yaw, the vehicle can find its way slowly but accurately along a waypoint mission if given an initial heading that’s close to accurate, but over time, the yaw drifts until the vehicle icon is crabbing sideways on the ground station map and the PID integrator terms wind up to max. Is this a lost cause? It seems like if the vehicle can find its way from point to point, it must sort of ‘know’ its heading just from the GPS path… so why does it keep drifting? Any advice appreciated.
Some recent params here: GSF_yaw_lower_filter_cutoffs.param (15.0 KB)