Working on a small autonomous rover project and I'm using the MultiNav Pro+ sensors module to get heading estimation between GNSS fixes. The idea is to use the accelerometer + gyro + magnetometer together in a complementary or Madgwick filter to keep orientation tight when the rover is moving slow or the GNSS update rate isn't enough on its own. My question is whether anyone has actually done sensor fusion with the onboard mag and IMU from this module, and if there's anything weird about the data output I should know before I go too deep into the filter implementation.
