Accel axes offset/scale factors:
0.003418, 0.998897,
0.008789, 1.005023,
-0.041993, 1.001877
Magnetometer axes offset/scale factors:
8.244299, 1.014075,
-0.537672, 1.002969,
-30.582275, 0.982956
Circular_Buffer<float, 16> myFloats;
myFloats.push_back(-3.14159);
myFloats.push_back(-12.3456);
myFloats.push_back(-78.91234);
myFloats.push_back(-7.91234);
myFloats.push_back(-11.91234);
myFloats.push_back(-58.91234);
myFloats.push_back(-18.91234);
Serial.print("SUM: "); Serial.println(myFloats.sum(), 5);
Serial.print("MIN: "); Serial.println(myFloats.min(), 5);
Serial.print("MAX: "); Serial.println(myFloats.max(), 5);
Serial.print("MEDIAN: "); Serial.println(myFloats.median(1), 5);
Serial.print("AVG: "); Serial.println(myFloats.average(), 5);
Serial.print("Deviation: "); Serial.println(myFloats.deviation(), 8);
uint8_t _size = myFloats.size();
for ( uint8_t i = 0; i < _size; i++ ) {
Serial.print(myFloats.pop_front(), 5); Serial.print(" ");
} Serial.println();
SUM: -192.04887
[COLOR="#FF0000"]MIN: -78.91234
MAX: -3.14159[/COLOR]
MEDIAN: -12.34560
AVG: -27.43555
Deviation: 27.13280106
-78.91234 -58.91234 -18.91234 -12.34560 -11.91234 -7.91234 -3.14159
Tim. You are right - with out movement GPS is no good for heading. If its moving you can actually read it from the COG variable in the PVT message. But it VelN, VelE, VelD are used while stationary you are going to get some erroreous readings. Since when stationary they are not zero. Usually less than (abs) 0.1 m/s.
I have seen the weird coupling before but I can't remember what happened. Think is was calculating Euler angles incorrectly - have to see the quaternions to tell you if something is up. Since they drive the angles.
Don is qw your q0 or q3?