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…

Hi @Pawel , welcome to the forum :slight_smile: If you’re wanting the autopilot to preferentially use GPS messages for its yaw input then I suspect you’ll need to set EK3_SRC1_YAW to GPS (2), which from your description doesn’t seem to be an option you’ve tried yet. Note that the gyroscope is used …

Hi @EliotBR thank you I used it as you say and it is working now. I described it this link

External Yaw in GPS_Input does not seem to work

Blue Robotics Software ArduSub

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

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External Yaw in GPS_Input does not seem to work

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External Yaw in GPS_Input does not seem to work

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