I have used a pi zero to capture the NMEA messages output from Marvel Mind beacons, attached. I want to use the heading message, GPHDT, as the yaw source in EKF3, position works but not yaw. I have tried countless experiments, it seems this message is not being used for navigation. Also it should show up in MissionPlanner as gpsyaw2 but this always says 0. I am trying to use it as if it where a Hemisphere GPS, type 16. Thanks!
mm_data.zip (16.8 KB)