This thing might actually work. This morning the biggest problem I was having with it was the fact that the GPS was going crazy. I think it is multipath, and I think putting a big plane of copper below the antenna will work.
In the mean time, I have calibrated all the gyro axes, which needed a 15% scaling in order to read accurately. I trust the gyro compass far more than the GPS at this point, so I will tune the configuration parameters such that the GPS heading is ignored.
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