Brian Taylor

It's a double in units of seconds.

Regarding time, you can just supply your own time source (i.e. from the microcontoller). Really, it just needs to know that the GPS data was updated and what the time...

UBX looks like garbage over the serial port, it's binary, not human readable. Try an old version of this library for parsing the packet. At some point uBlox made a...

Any rate between 1 Hz and 10 Hz should be fine.

elapsedMillis is a Teensy library. It's header only and available from here: https://github.com/PaulStoffregen/cores/blob/7435e4bbe96c0819dc28ea64bfe4f152f92a486e/teensy/elapsedMillis.h I've seen some other ports of that code as well. Should be easy to incorporate. I'm only...

Navigation is an Arduino library, which contains the EKF among other related functions and transformations. I do agree the EKF needs better documentation. uNavINS was a fundamentally flawed approach that...

Are you sure you're using the MPU-9250? There are a lot of counterfeits or chips substituted with something like the MPU-6500. I would also use the newest version downloaded directly...

I'm not familiar enough with the chip to say whether it has support or whether the Arduino HAL has it exposed in the HardwareSerial API. If it does have support...

You would need to copy and paste the entire error output, I'm not seeing any errors here.

The newer versions of the library include cstddef, but use include guards so it shouldn't be used in an Arduino build: ```C++ #include "mpu9250.h" // NOLINT #if defined(ARDUINO) #include #include...