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feat(controls): Compass heading node — magnetometer fusion for absolute yaw #235

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opened 2026-03-02 12:09:39 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 12:09:39 -05:00
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Single ROS2 node. Subscribe to /saltybot/imu (IMU with magnetometer). Extract magnetic heading, apply declination correction (configurable, default 1.5deg for France). Publish /saltybot/heading (Float64 in degrees 0-360) and /saltybot/heading_quaternion at 10Hz. Tilt-compensated using accelerometer. Include unit tests.

Single ROS2 node. Subscribe to /saltybot/imu (IMU with magnetometer). Extract magnetic heading, apply declination correction (configurable, default 1.5deg for France). Publish /saltybot/heading (Float64 in degrees 0-360) and /saltybot/heading_quaternion at 10Hz. Tilt-compensated using accelerometer. Include unit tests.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#235
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