Anyone using a Mosaic-H will probably been of sending: GGA, VGT, HDT and AVR into AgIO.
When AgIO parses the AVT message which is used for Roll, a Kalman filter has been added into the code. The effect of this filter, was to cause the roll to lag badly and you would notice the AB line shifting sideways on screen with big roll changes, with accompanying increases in the XTE.
Whilst I had been able to get AgOpen to steer quite well, these position changes were causing the XTE to not be as low as I’d like.
I’ve removed the Kalman filter from AgIO and the improvement is massive, no position jumps, smooth steering, super low XTE and almost certainly the best Dual experience you will get thus far. I’ve used Dual F9P, ByNav and UM982 so have tried all the major options.
I’ve no idea why there’s a Kalman filter in AgIO in the first place, there is one for the SkyTraq dual receiver too, really not a good idea.
If anyone wants a copy of the latest version of AOG with the AVR Kalman filter removed happy to send one.