MAV_CMD_DO_SET_HOME not setting initial heading

ArduRover Rover 4.4
1

Hello,

I have been trying to set the initial EK3 heading for the rover with little success. I have tried the Mav_CMD_DO_SET_HOME but the heading never changes to the yaw angle specified. I am just looking to give the rover the initial heading since GPS and Compass are unavailable in the area I am operating. I have an external beacon system that I am receiving the heading from and want to have the rover use this angle for its starting position on boot. Any suggestions or insight is much appreciated.

Thank you,

Matt

2

To elaborate further, I have had some success with adding my radian to the vision_position_estimate_send command. It seems a bit tacky to add my radian to each message but it is somewhat working. I have tried messing with set_attitude as well but no success in changing my initial heading.

Matt