GPS Yaw information is being generated and recognized according to Mavlink Inspector. The correct heading is being determined by the GPSs per a review of the binary log, but EKF reporting RED in the HUD and GPS yaw is not being used. Rover always boots up heading due North, but once a yaw/heading fix is achieved the reported heading does not update. The GPS Heading is correct when driving, but the Current Heading is not. I have to assume that EKF is basing GPS Heading on the historical motion path, not the GPS generated yaw value. The Current Heading is not off by the same amount every time.
The images below were after I loaded Plane firmware, wiped the SD card, loaded the latest Rover 4.10-Dev, manually input my parameters, and rebooted the GS and FMU warm. The Rover is pointed Due East (90 degrees). The GS shows the Rover heading due North. The HUD shows due North. GPS both report RTK Fixed, and Mav Inspector shows GPS Yaw active on GPS2. GPS 1 is configured on Serial 5 and is located in front of the FMU with offset only in the +X axis, configured as Type 17. GPS2 is on Serial 4, located to the rear of the FMU with offset only in -X axis, and configured as Type 18. RTCM is injected from the base station and being sent to both GPS (verified). A review of the binary log shows GPS yaw at 89.3* (due East).
What am I doing wrong here? Why is my EKF reporting red? Why is GPS yaw not being used?
Link to log and bin
Link to latest param file