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.
---
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