setYawScalar

Tuning this value should be unnecessary. The goBILDA Odometry Computer has a per-device tuned yaw offset already applied when you receive it. This is a scalar that is applied to the gyro's yaw value. Increasing it will mean it will report more than one degree for every degree the sensor fusion algorithm measures. You can tune this variable by rotating the robot a large amount (10 full turns is a good starting place) and comparing the amount that the robot rotated to the amount measured. Rotating the robot exactly 10 times should measure 3600°. If it measures more or less, divide moved amount by the measured amount and apply that value to the Yaw Offset. If you find that to get an accurate heading number you need to apply a scalar of more than 1.05, or less than 0.95, your device may be bad. Please reach out to [email protected]

Parameters