87yj, The IMU vs. dual-RTK situation is a hot-button for me right now. A firmware update went bad on one of my NVS-NV08C-RTK-A receivers. It's now in "console mode" which NVS refuses to support. So it's bricked. The Tersus is delayed so I ordered a couple Piksi Multis and a couple more IMU Brick V2s. I'm hoping to migrate to them over the next week so that I can start planting. I'm not sure what you mean by "driving the direction you are going" but I use the NV08C heading. My issue now is that I wander around +/- 10cm from the line. There are a few things I still need to tweak but I'm hoping an IMU will help me stabilize. I also bought some A/D converters for the Pi. I'm thinking about controlling steering (and everything else) directly from the Pi instead of going through rosserial to an Arduino. It should cut down on latency a bit and simplify the system. --- [Visit Topic](https://discourse.ros.org/t/tractobots-my-attempts-at-field-robots/1486/34) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: