The code is correct, it works for me. So check your connections.
Found the issue … the Tiny ethernet pins on the Teensy got ruined from taking it on and off so frequently. I managed to get it up and running now. Thanks for the help!
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A few questions,
How do you put the code into AOG?
How is it wired into the all in one v4 board?
Where is the best place to mount?
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Am i missing something of could I feed VIN from pin 1 ? instead of connecting 1 & 11 on the amp seal
also because i have not got this all installed yet is tuning the WAS (BNO) a similar procedure in steering configuration ?
Yes, you can power 5v from pin 1
WAS 0 is automatic. Set the wheels straight before turning on the power. CPD can be adjusted, but it works slightly differently, with a +/- 30% increase.
Acerman needs to be adjusted.
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Thank you for sharing. Does this code also work with dual antenna setup?
How soon will the enclosure be available on your website? and at what price?
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2nd to that when in production please add a BNO holder of sorts. I have printed the file you put up but it looks to be for a TM 171. I tried to attach a stl file with the adapter a friend helped me to draft out until your unit is available but it would not up load. Here is the version he came up with to hold the BNO
I went with a BNO for two reasons.
1 I had a few spares
2 its less than half the money. Which in the grand scheme of things both are very affordable.
Is there a advantage to using one or the other ?
Is there going to be a step by step guide for setting this up? Very interested but don’t know what to start with
I’m working with a John Deere 4-wheel drive tractor. When making adjustments I’ve always assumed that I’m dealing with the front axle and using it as the pivot point. (The rest of the tractor will follow). At first I put the GPS antenna on the nose of the tractor, in front of the front axle, but later I noted it was more convenient to put it on the rear of the cab, behind the front axle. All worked very well after I told AOG that sensor inputs would now be reversed. Would it follow that for purposes of this discussion I would mount the the TM171 / BNO85 on the back of the cab as well, since it would switch direction with a turn? To go one step further, since my AOG board is mounted toward the back of the cab would it be possible for the existing BNO85 to handle that additional chore via programming changes? I’m a programming newbie so I’m perhaps clueless. I realize this would not work with a traditional front steer tractor but wondered on the 4 wheel drive(bend in the middle) tractor.
Yes, this will work. Just change one line of code to use heading without WAS.
Just find that place
int16_t rawWAS = analogRead(STEER_PIN);
steerAngle = (rawWAS - wasCenter) * steerSensorCounts;
and add that one line.
steerAngle = 0;
I have a system with dual antenna and would use two TM171 to calculate the wheel angle.
What are your settings for the TM171 (output rate in Hz)
Can i still retrieve the roll from the dual gps with your code?
They are now available from TM171.
Price: 130 euros net.
Link - https://navisklep.pl/en/p/imu-was-tm171-gyroscopic-steering-sensor/?v=9b7d173b068d
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Hi,
do you ship to USA?
Yes, we ship worldwide.
Orders from outside Europe are processed via email due to varying shipping charges.
The fastest way is to send me a screenshot of your shopping cart from our store or a parts list to navisklep@gmail.com.
We’ll issue a proforma invoice for payment (PayPal is available) and ship the goods to you 
MY PCB STANDARD MOD
But there’s really no need to bridge the 5V power supply if you never want to use a regular WAS.
GND from BNO
I don’t know if Marek has already changed this in the code, but with the TM171 connected as a gyroscope in the STANDARD PCB, it won’t work. You need to disconnect the RX and TX pins from the TM and run the TX from the TM to serial 5 next to the BNO slot.
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I’d be interested in one but maybe could split shipping. don’t blame you if this looks to complicated. 
I just ordered one to central Kansas this morning. Maybe Navisklep would ship them all together to reduce shipping. I could then ship to you. Or maybe that’s too confusing
Also I used Wise.com to send payment. They charged around $8. PayPal would have been about $75.
If you only want to use the WAS, don’t use the TM171. A BNO 085 will suffice; the WAS is even better than the TM, which is very sensitive to shocks and has a lot of drift. Use two BNO85s and they will work very well.
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