Reply To: trying to understand binary yaw pitch roll format

[karl]

Ok, great, I was looking at specifications tab instead. What I really want is ASCII / NMEA. After turning off Broadcast Rates – Raw Data twice, turning on health at 1Hz and NMEA Orientation at 15Hz I get quite nice looking reports:

With unit Y vector pointing approximately North, looks good (I added the … characters):

$PCHRA,2703.684,0.10,-2.12,-0.21,*6B
$PCHRH,2703.694,00,00,0.0,0,0,0,0,0,1,0,0,0,*4D
$PCHRA,2703.752,0.10,-2.12,-0.20,*60
…….
$PCHRA,2704.495,0.14,-2.09,-0.30,*60
$PCHRA,2704.564,0.13,-2.09,-0.30,*68
$PCHRA,2704.631,0.14,-2.09,-0.31,*6D
$PCHRH,2704.694,00,00,0.0,0,0,0,0,0,1,0,0,0,*4A
$PCHRA,2704.698,0.14,-2.10,-0.31,*66
$PCHRA,2704.766,0.16,-2.10,-0.31,*64

HOWEVER, when I rotate unit so that Y points exactly 180 degrees away from previous heading:

$PCHRH,2904.860,00,00,0.0,0,0,0,0,0,1,0,0,0,*41
$PCHRA,2904.867,0.46,-3.56,93.64,*75
$PCHRA,2904.934,0.46,-3.57,93.62,*75
…..
$PCHRA,2905.746,0.48,-3.57,93.50,*70
$PCHRA,2905.813,0.48,-3.58,93.49,*78
$PCHRH,2905.862,00,00,0.0,0,0,0,0,0,1,0,0,0,*42

This does not seem to be physically possible. I do need headings both South and North.
I see similar values in the $PCHRP messages. How do I fix this?