Dear Cody,
I stumbled upon your post while searching to use a external Magnetometer or IMU to improve the yaw accuracy. Currently I’m using a waterlinked DVL aswell and found out that the position estimation on our map is nothing near close as our real world position.
I was wondering how you setup and configured the BMM150 in your system. Did you use i2c or UART communication? And if so, how did you setup the serial inputs within BlueOS so that the BMM150 was fully integrated into the compass system as a additional, external source for yaw movement?
Currently I’ve been trying to get a MTi3 working opver UART, but the compass_external parameter didn’t really do much for it.