There is no heading provided in NMEA yet, but since heading calculation in GPS is very straightforward you can do it on the rover side. It is simply the direction from the previous point to the current one + some low pass filter.
I did switch to the geodesic library’s calculation of heading. The haversine formula assumes a spheroid, but the geodesic library works with the WGS84 ellipsoid. For my purposes, both are probably fine, but I’ll go with the geodesic.
g = Geodesic.WGS84.Inverse(lat1,long1, lat2, long2, outmask=1929)
I still need either a filter or the ability to pull a value from the IMU (which shouldn’t jump around as much)
The problem is that point to point calculations will give you your course, not your heading! For some of us, heading is very important and often quite different to the course. As an example, consider a boat travelling across a current or the wind, or a boat turning corners. I really, really want the data from the integrated IMU - heading especially, but also pitch and yaw. Any ETA on when we are going to get this, as it has been quite a while now…!