Rencently I use a Chinese GPS board it has two Antennas,so it can out put for yaw data,since use we usually use compass for yaw I want use the GPS output heading instead of it,my method is change here library/AP_AHRS/AP_AHRS_NavEKF.cpp,update_EKF2() function
first when gps heading is valid we get a gps_heading ,we use "from_euler312(roll,pitch,yaw)"fuction the yaw is output by EKF use compass ,I use gps_heading instead it from_euler312(roll,pitch,gps_heading ),we get a new matrix "_gps_yaw_Matrix3f" ,we use this matrix instead of _dcm_matrix,
I test my method ,and it works ,but I want to know if it reasonable，or it compeletly wrong,please give me some suggest thank you very much.
the file is chines RTK board
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