daylanKifky
Hello Bruno
Thanks again for responding,
After 2 weeks of testing the library and doing some good calibration,
Finally I found out the covariance matrices variables are causing the yaw drift.
As you are the only man who is helping so I decided to ask for help again.
![](https://chordata-files.s3.eu-west-1.amazonaws.com/2021-10-07/1633613986-695454-image.png)
these variables are killing me and my project, I will be grateful for anyhelp.
Kind Regards,
Mason