LORD-MicroStrain/microstrain_inertial

Dual antenna system: Receiving heading estimate?

Closed this issue · 2 comments

Acerox41 commented

I want to get the heading estimate using the 3DM-GQ7 with two multiband-antennas.
I recognized a small difference of the estimated heading/yaw between the topics ekf/dual_antenna_heading and ekf/odometry_map.
What is the difference?

Using SensorConnect-Software I get the same difference between the MIP-Messages GNSS Dual Antenna Status (0x82,0x49) and Euler Angles (0x82,0x05).

robbiefish commented

Hi @Acerox41,

Can you checkout the microstrain_inertial_driver_common submodule to bugfix/dual_antenna_heading and let me know if that fixes your problem?

If you are in a terminal in the root of microstrain_inertial, you can do this by running the following commands

cd microstrain_inertial_driver/microstrain_inertial_driver_common
git checkout bugfix/dual_antenna_heading
robbiefish commented

This should be fixed on 4.0.1. Closing for now, feel free to reopen if this is still an issue