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Imu_tools with magnetometer - not working as intended

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The imu_tools package allows for the use of a magnetometer data in order to obtain a world-referenced heading, right? After some tests with the adition of magnetometer data to the filter, it is not computing the yaw rotations correctly. Is there any specific unit the mag data should be posted? (From REP103 I would say it should be Tesla, but since we are talking about measurements in the range of milligauss..) Does the filter compute tilt compensation?

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