I’m using the BNO085 IMU in this code. My next step is to use this with a dual antenna system.
I personally believe that an IMU in a tractor cab will always be a problem. Hence the pursuit over the last 5 years to find a better IMU will never solve the problem. My main system still uses a DOG2 angle sensor for roll. There’s just too much bouncing and movement. Early on, I tried some high end IMU’s from KVH and True North. After talking to both companies, I came to the conclusion the the IMU is doing what is can, but being an inertial sensor, it will always be subject to the vibration and bouncing that occurs in a tractor cab. If you hit a hole and it shift the tractor, the steering can not physically react fast enough, so I quit trying to have a system react to everything. An IMU is only useful for average roll compensation and change of heading on a ~1 second scale, nothing faster.