@feepyj Thank for the write up!
I have however a question about magnetometer data. Does this work well? How did you calibrate it? I am using the device at longitude 59. I have tried magnetometer calibration from RTIMULib2 (the min/max calibration). This didn’t change much. Haven’t tried ellipsoid calibration as this requires octave.
I have also tried some other calibration scripts.
I would like to use RTK module to get the heading. But it seems I have some trouble getting magnetometer working correctly. May-be you have had success with this?
Thanks!