There’s a post by @Aortner regarding antenna placement: Antenna placement
“Brian Tee, [07.11.19 01:36]
Stanley guidance uses heading to calculate the distance the steerer wheels are offline, so putting the antenna over the pivot with a stable heading from imu is as good as Pure Pursuit and antenna above the front wheels. It’s a complex interaction”
As far as I understand we can place the antenna right over the pivot if we use heading from IMU. Think I’ll do it this way