Thanks Kyler... "Driving the direction..." is a poor choice of words in the context. I was asking what factors are leading to the choices you are making related to # of GPS's and/or IMU usage. I have some rougth python code that will take 2 GPS signals with know mounting height and distance from centerline and calculate centerpoint, heading and compensate for tilt. I was starting to head into the direction and IMU to simplify. I'd like to build out the code to handle either configuration. --- [Visit Topic](https://discourse.ros.org/t/tractobots-my-attempts-at-field-robots/1486/35) 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: