@Kevin Walsh yeah gyro drift on long sessions is a classic pain point with MEMS IMUs — the onboard hardware itself doesn't do automatic drift compensation, that's something you handle in your firmware layer.
The good news is the sensors module gives you everything you need to fight it. Since you've got the magnetometer and the accelerometer on the same board, the most straightforward approach is a complementary filter or a Madgwick/Mahony filter that fuses all three — gyro for short-term responsiveness, accelerometer and mag for long-term reference. That combination handles heading drift pretty well on a slow-moving ground vehicle where you're not dealing with heavy vibration throwing off the accel readings.
If you want to go further, the GNSS module paired alongside it lets you do GPS-heading correction periodically — basically use your GPS track to nudge the IMU estimate back into line every few seconds, which works really well at ground vehicle speeds.
Have you tried any sensor fusion yet, or are you currently running the gyro standalone for heading?
