2018-06-21, 09:48 PM
I don't really see this. For me, the only way it would do what you describe is if the compass is not properly calibrated, so it follows the gyros when turnng, then re-stablilizes to the incorrect compass value.
It might be a problem in your setup. Do you have other devices on i2c? Are you running imu only mode? Can you stop this, and manually run pypilot_boatimu from a terminal?
Could you compare the values imu.heading and imu.heading_lowpass? Can you increase the value of imu.heading_lowpass_constant using the "signalk_client_wx" program once the server is running?
Does the headingrate lag in the same way as heading?
It might be a problem in your setup. Do you have other devices on i2c? Are you running imu only mode? Can you stop this, and manually run pypilot_boatimu from a terminal?
Could you compare the values imu.heading and imu.heading_lowpass? Can you increase the value of imu.heading_lowpass_constant using the "signalk_client_wx" program once the server is running?
Does the headingrate lag in the same way as heading?