So, I was interested in using HITL simulation with Gazebo, and my goal is to write my own HITL middleware that will create connection between my Pixhawk 6C and ArduRover SITL (which is connected to the Gazebo Ardupilot plugin). The problem is – the heading direction is changing too slowly (I set EK3_SRC1_YAW = 2 and am sending GPS_INPUT_INT to the Pixhawk). For example, if the rover in Gazebo rotates by yaw at a speed of 10°/sec, my Pixhawk changes its calculated direction at a rate of 1°/sec. How can I fix that?
HITL is pretty much not supported anymore, use SITL.
Are you sending IMU data? If you want to trick the FC into thinking it is doing what it isn’t doing use EAHRS.
u mean, I have to use External AHRS?
I searched for it, and a did not fount any info about EAHRS via MAVLink. Do u know how to set up EAHRS via MAVLink?)