Digital compass acting as B&G Precision 9 based on ESP32 and BNO055 (tilt compensated) copy a lot of Code an Idea from https://github.com/htool/ESP32_Precision-9_compass_CMPS14 thanks for that.
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Adafruit_BNO055 copy the included modifyed directory to Librarys don't use the original. or add "bool getSensorMagneticOffsets(adafruit_bno055_offsets_t &offsets_type);" to the File "Adafruit_BNO055.h" in the public area.
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Timo's NMEA2000 Library https://github.com/ttlappalainen/NMEA2000
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NMEA2000_esp32 https://github.com/ttlappalainen/NMEA2000_esp32
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Adafruit_BusIO
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Adafruit_Unified_Sensor
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BluetoothSerial
- After trying the MPU9250 first, I wasn't happy with the noise level. ( as https://github.com/htool ... I am with him!)
- Configuration can be done via Bluetooth using free App SerialBluetooth. Enter "help" to get the commandlist
127250 - Vessel heading with 20Hz 127257 - Attitude (Yaw, Pitch and Roll) with 10Hz 127251 - Rate of turn with 20Hz 127252 - Heave with 10Hz