We are running 3DMGX5-AHRS device and attempting to remove the magnetometer data from the EKF calculations. We initialise the EKF heading value from an external GNSS.
The initialisation appears to work okay and I can continue as previously.
When I attempt to to pass further headings from external GNSS to IMU I get an API call failure (retCode 4) but I cannot work out error is indicated.
Code Snippet
if (!data.ekfInitialised) {
SetImuIdle();
data.node.setInitialHeading(ostkmath::degreesToRadians(nmeaHDTData.heading));
data.ekfInitialised = true;
StartImuSampling();
} else {
mscl::HeadingData headingData;
headingData.headingAngle = ostkmath::degreesToRadians(nmeaHDTData.heading); // pass radians value to function
// SetImuIdle();
data.node.sendExternalHeadingUpdate(headingData); // THIS CALL FAILS
// StartImuSampling();
}
}
We are running 3DMGX5-AHRS device and attempting to remove the magnetometer data from the EKF calculations. We initialise the EKF heading value from an external GNSS. The initialisation appears to work okay and I can continue as previously. When I attempt to to pass further headings from external GNSS to IMU I get an API call failure (retCode 4) but I cannot work out error is indicated.
Code Snippet
if (!data.ekfInitialised) { SetImuIdle(); data.node.setInitialHeading(ostkmath::degreesToRadians(nmeaHDTData.heading)); data.ekfInitialised = true; StartImuSampling(); } else { mscl::HeadingData headingData; headingData.headingAngle = ostkmath::degreesToRadians(nmeaHDTData.heading); // pass radians value to function // SetImuIdle(); data.node.sendExternalHeadingUpdate(headingData); // THIS CALL FAILS // StartImuSampling(); } }