Initial random value for the yaw

[hjjayakrishnan]

Hi,

I'm running a PNI Trax IMU with the madwick filter with the magnetometer disabled. But imu/data starts with a random angle for the yaw angle. Is there a provision to set the initial yaw angle to zero?

Thanks

[AlexisTM]

I bumped into the same "issue" which makes initial testing harder.

This is due to the stateless initialization.
You could modify the StatelessOrientation with accelerometer only to enforce a zero yaw.

https://github.com/ccny-ros-pkg/imu_tools/blob/11f405e89925d75b9a17c64d92a139a10ae56118/imu_filter_madgwick/src/imu_filter_ros.cpp#L182-L191

[mintar]

PR is welcome! :)