I have implemented the MPL on the MSP430 and am getting good results for 9X fusion, however I would like to guage the accuracy of the heading. I see there is a function call for inv_get_heading_confidence_interval(), but no matter what I seem to do, the result is always 3.14. Is this function correctly implemented or is there a known bug?
I am currently using the accuracy from the compass data which generally reports 3 for me. However, I am finding that the heading from 9x fusion is only accurate to about +-10 degrees. This is quite a bit off from what I would expect.
Is this normal for the MPL algorithms?