Hello I am trying to provide external position and heading to Ardupilot. I used ArduSub framework as it seems it is often used in that case. I got GPS_Input working as described in ardusub book GPS_INPUT , however the last Extension parameter provided in latest Mavlink GPS_INPUT ( #232 ) (pymavlin…

I think I got that working. The key for me was to understand that the internal gyro cannot be disabled ( this link ) and it is always blended with the externally provided yaw. So the KF will just take its time to blend them and I was not patient enough to see that happening. I still would like to dem…

External Yaw in GPS_Input does not seem to work

Blue Robotics Software ArduSub

Pawel (Pawel Pocwiardowski) July 28, 2023, 4:24pm 2

Related to this discussion

Topic		Replies	Views
Providing External Yaw to Ardusub General Discussion	1	480	November 16, 2023
External Heading input on Navigator flight controller General Discussion	28	483	July 21, 2025
High Accuracy Aftermarket IMU/Gyro Third Party Products	42	2098	July 22, 2025
Can external heading and MRU sensor be used on BlueROV? Blue Robotics Software	1	875	January 26, 2021
Performance of third-party compass/AHRS within BlueROV2? Hardware	7	520	February 6, 2025

Community

BR Website

Software Docs

Autopilot Docs

BR and Beyond

Software

External Yaw in GPS_Input does not seem to work

Community

BR Website

Software Docs

Autopilot Docs

BR and Beyond

Software

External Yaw in GPS_Input does not seem to work

Related topics