Yes. Just deleted serial.event at bottom, put software serial’s routine to mainloop and modified delay to nonblocking one…
Have try with software serial but no success !!
This worked for me:
http://hiihoo.fi/~hiihoo/IMU_witmotion_v5_0_softserial/IMU_witmotion_v5_0_softserial.zip
(tried direct link, didnät work… try Index of /~hiihoo/IMU_witmotion_v5_0_softserial )
Pin 9 rx, 8 tx… (tx not used)
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Also, don’t know if related to software serial, some times gives “insane” roll / heading time to time…
Maybe poor connection with my jumper cables. 
Also, put sensor to 6-axis mode from config, so no magnetic compass, and for couple hours, steady heading, no drift.
Gave little roll / turning, tried to put “exact” same heading back, and it seems to be…
For these imus, one should make some rollercoaster simulator with 2 servos (roll / heading) and arduino, set zero at zero (oh…), make arduino do rollercoaster for couple hours and go back to zero to look were zero is… no need to “I think this is ok”-thinking, if it goes back to zero after test, it just goes…
it could even rollercoast for while, go to zero, log values and so on…
I might be thinking too much of just imu… ?
thanks. yes i forgot to tell i was in 6 axis mode.
works fine with ur software serial
Hwt901 on esp32 in V5. MTZ esp32 ino code modified to add hwt imu
Just idea… I have seen some sporadic errourness roll angles time to time, mostly comes within 10 seconds of powerup, not something to really worry, but:
I believe no-one rides tractor with more than xx degree roll? 20-30-45?-)
Maybe filter out “false” readings at ino allready, I dont’ have knowledge how agopengps handles roll, if there is allready some sanity check on roll? Anyway, as agopengps shows roll to 90 degree, I have feeling there is no filtering insane roll readings?
I think should anyway be implemented? Also so other imus… ? Or directly to agopengps as option… Or…
I don’t know, but as an idea, other to do something with it.
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We Can add limit in ino.
I think thé problem IS in software serial. Thé best IS using Arduino or other with some other hardware serial. I see some lAtency too with Arduino nano and hwt in software serial. And no latency with Uno and hwt on uart2. Same good with esp32 D1 With hwt on uart2
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If I use the RS-232 version directly plugged into a hardware serial port on the computer, what do I need to do to get it going?
Also, WT901C vs WT61PC → which to go for?