How to get GPS heading ?

[PierreInnodura]

Hello,
I'm currently using 3DM-GQ7 with two antennas, I'm struggling to convert the /ekf/odometry_earth message in the ECEF frame into the ENU frame to get the heading to north. Could you provide me some support on this topic please ?

[robbiefish]

ENU orientation can be found in the pose.pose.orientation field of the /ekf/dual_antenna_heading topic.

This topic can be enabled by setting filter_dual_antenna_heading_data_rate to a non-zero value

[PierreInnodura]

Thank you for your response, heading is only published when the two antennas have clear view of the sky ?

[robbiefish]

In the dual antenna heading topic, you will need to make sure that you have good sky view on both antennas and that the antenna offsets are configured correctly. We have a guide for how to properly measure antenna offsets in our documentation here

[PierreInnodura]

Ok , thank you very much !

[PierreInnodura]

Hello, just another question, once the ekf is initialized with the heading of the two antennas, the topic will continue to publish heading information without clear sky view of the two antennas ?

[github-actions]

This issue is stale because it has been open for 2 weeks with no activity. If the issue is still not resolved, please leave a comment describing what is still not working

[github-actions]

This issue was closed because it has been inactive for 2 weeks since being marked as stale. If the issue is still not resolved, please reopen the issue, and leave a comment describing what is still not working