Brian Taylor

Either get the ESP32 devs to not use macros or rename OPEN_DRAIN in this library to something else.

What do you mean by raw and converted?

Transferring data between a Ladybug and an ESP32. The Ladybug is doing the heavy lifting to determine the states of a vehicle and the ESP32 is wirelessly broadcasting those states...

Thanks, I was able to reproduce this issue. Indeed the first error is with the _round_ macro in the STM32F103 cores. I quickly bypassed this issue by adding `#undef round`...

@Heikkif, you can try v1.0.2 of the [MPU9250 Library](https://github.com/bolderflight/mpu9250/releases/tag/v1.0.2), which does not have dependencies on the Eigen or Units library.

@Cougar83, which processor are you using? Based on the error message, it seems like it's not an ARM processor.

@FrankXu626522, are you porting to an Arduino Uno? I wouldn't expect this to work on that platform. It's going to need a 32 bit ARM processor to work.

@m-elias, thanks for the contributions. It looks like rel_pos_gnss_fix_ok_ and rel_pos_diff_soln_ are shadowing the current code's fix_ output (FIX_NONE or FIX_DGNSS). I'm not sure what those add, unless the intent...

Unfortunately, I have limited familiarity with NMEA. Most of my work is with uBlox receivers over the UBX protocol, currently I use the SAM-M8 and ZED-F9P most frequently.

For TOW, that's doing two things: 1. Seeing that the GPS data was updated for running the measurement update 2. Setting the time period for integrating the accels and gyros...