Hey @EliotBR !
So it’s not possible to fully (and only) use the NMEA Heading angle as the one and only input for the ROV’s Compass? I experience an offset between the final EKF and the absolut GPS2 NMEA Heading Data, which would mean that the use of 1 absolute heading source will always have an offset compared to the final heading angle shown in QGC or Cockpit (Because of the EKF System)?
The reason we’d like to use a external heading source is because we’d like to navigate as precisely as possible on the A50 DVL. I believe the ROV Position Estimate that’s ‘drawn’ in QGC and Cockpit is based on the EKF’s angles and the DVL’s velocities and then get calculated in the actual positions, right? So in order to get an as precisely as possible position estimate, we need a super precise Compass Angle all the time, right? For our system the internal compasses experienced too much distortion from the Electromagnetic fields, so we choose for an external NMEA Heading Sensor, with slightly more precise and a higher range of operating in terms of mGauss.