Providing External Yaw to Ardusub

General Discussion
2

Hi @cmarq,

As a couple of relevant points:

  • there’s our discussion from last year on external IMU stuff
  • it’s possible to connect an external compass directly to the flight controller, and specify it using the COMPASS_EXTERNAL parameter
  • there’s an option for specifying heading in the GPS_INPUT MAVLink message, but I believe that also requires providing position estimates