Reply To: Quaternion Output Drift

[Caleb Chamberlain]

If the yaw angle isn’t remaining accurate, it would be caused by one of the following:

1) The magnetic field is distorted badly enough that the sensor detects it and stops using it,
2) Mag calibration is bad, or
3) The magnetic field is distorted, but not in a detectable way and the magnetic field measurements are pulling the yaw estimate off.