There is a NMEA sentence, GPROT, for angular rotation about the Z-axis. It might be possible to do this from just single or dual antennas with no IMU. Need to do some coding / testing to see how suitable the data is for steering angle calculations.
This might be relevant as well:
Would be huge if that’s possible, do you think the GPS signal is accurate enough and the sampling rate high enough to be able to do that?
I had used Alan’s code, following a breakage of was. I slightly modified certain things. adapted to the teensy code. it was however necessary to increase the cpd and greatly reduce the P. However I obtained excellent results, perhaps better than was. Even the half turns worked without going too fast.
The biggest difficulty is to find the right settings, which seems different depending on the speed. the equations must be adjusted to always stick to the best. But I am not good enough for that. I simply adjusted to the best for the work I was doing and I was able to finish without was while waiting for the new one.
We are going to take a downpour here, I will have time to find the code and share it with you.
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IDK. Never really looked at the Yaw Rate data.
It was. How is it connected now? I’m a bit behind the times with AOG!!
still i2c, but also serial in RVC mode for those who want. (and I understood that this will be the standard for the future pcb v5)
Basically, I ended up using it in the field for the same reason. Had a big maize drilling day and ripped the WAS wiring off on some strong undergrowth down a rough track. It was never really meant to be published, just a dirty hack to prove a concept!! Slightly embarrassing code that served a purpose! Not helped by me not really understanding the data flow from the BNO.
IMHO the 2 tier structure of AOG’s development that seems to have arisen has greatly hampered it’s development. There are a lot of very experienced users with hundreds of hours of in field time that are being sidelined. Knowledge fragmentation unfortunately, and it shows.
I am one of the folks working on the AiO v5.0 PCB and firmware. It is a great group of open minded folks from different countries working to make the next generation of hardware and firmware better.
The development of the hardware / firmware was split off from the Windows software development to a separate GitHub repo. Not really a two tiered system. There are different skill sets needed for the different developments. I am not really involved in the Windows AOG development as it is not my skill set.
Not really sure what the “sidelined” comment is about. Hopefully it is not about the PCB / firmware. The firmware development repo is public. Anyone can view it. Anyone with a GitHub account is encouraged to submit a PR with bug fixes, new features, etc at any time.
The PCB development is done on EasyEDA. Unfortunately, it is not like GitHub so anyone with access can make a change to the design and it is instantly live. The design can be backed up into a Zip archive and placed on the firmware repo if folks are looking for the PCB stuff. Reach out to me here or via DM.
Personally speaking, I am a hobbyist developer. My ideas often outstrip my coding ability so I always welcome constructive feedback.
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