MPU9250 heading is slowly drifting

[Sailoog]

Here my test in fresh Raspbian for python 2 and python 3. Pypilot does not work on any of them

python3
#######

sudo apt autoremove sense-hat

sudo apt install python3-serial libpython3-dev python3-numpy python3-scipy swig python3-ujson  python3-pyudev python3-pil python3-flask python3-opengl python3-pip python3-dev python3-setuptools python3-flask-socketio libatlas-base-dev python3-wxgtk4.0

sudo pip3 install pywavefront pyglet gps gevent-websocket python-socketio tensorflow

git clone https://github.com/seandepagnier/RTIMULib2.git
cd RTIMULib2/Linux
cd python
sudo python3 setup.py build
sudo python3 setup.py install
cd
git clone https://github.com/pypilot/pypilot
git clone https://github.com/pypilot/pypilot_data
cp -rv pypilot_data/* pypilot
cd pypilot
sudo python3 setup.py build
sudo python3 setup.py install
cd
mkdir .pypilot

result
------------------------------------------------------------------------
2020-01-18 16:05:53.666728: E tensorflow/core/platform/hadoop/hadoop_file_system.cc:132] HadoopFileSystem load error: libhdfs.so: cannot open shared object file: No such file or directory
Settings file RTIMULib.ini loaded
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
MPU-925x init complete

Fast drifting
pitch 6.324074922525247 roll -91.53618928287831 heading 75.27876668630839   
pitch -44.22218193641304 roll 175.96489709053526 heading 6.5329903265509754

Alignment reset in calibration window does not work.
Boat is not rendered


python2
#######

sudo apt autoremove sense-hat

sudo apt install python-serial libpython-dev python-numpy python-scipy swig python-ujson  python-pyudev python-pil python-flask python-opengl python-pip python-dev python-setuptools python-wxgtk3.0

sudo pip install pywavefront pyglet gps gevent-websocket python-socketio flask-socketio

# unable to install tensorflow for python2

git clone https://github.com/seandepagnier/RTIMULib2.git
cd RTIMULib2/Linux
cd python
sudo python setup.py build
sudo python setup.py install
cd
git clone https://github.com/pypilot/pypilot
git clone https://github.com/pypilot/pypilot_data
cp -rv pypilot_data/* pypilot
cd pypilot
sudo python setup.py build
sudo python setup.py install
cd
mkdir .pypilot

result
------------------------------------------------------------------------
ERROR loading learning.py No module named tensorflow ,  No module named learning
ERROR loading learning.py No module named tensorflow ,  No module named learning
Settings file RTIMULib.ini loaded
Using settings file RTIMULib.ini
Detected MPU9250/MPU9255 at standard address
Using fusion algorithm Kalman STATE4
IMU Name: MPU-925x
min/max compass calibration not in use
Using ellipsoid compass calibration
Using accel calibration
MPU-925x init complete

Slow but continous drifting:
pitch -1.02317380473 roll -92.9565552682 heading 76.9911142959
pitch -1.24983757477 roll -91.073889727 heading 78.5113350684

Alignment reset in calibration window does not work.
Boat is rendered