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Guidance
Yaw Drift
that to be effective this requires the magnetometer to be calibrated. Once calibrated, an initial
magnetometer reading undisturbed by magnetic disturbances can be acquired at the beginning of a match,
before the motors are energized. If the sensor is placed far enough away from motors, it may be possible
to also get an undisturbed magnetometer during a match. Finally, note that the resulting angle is only as
accurate as the magnetometer calibration and magnetometer accuracy allow.
In practice, FRC teams find that approach 1) is preferred, and given the enhanced accuracy of
"Generation 2" sensors this is definitely the recommended approach.
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