ESP32-Arduino-MPU9250
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Horizontal detection
Does this command take into account exact chip orientation? If chip is not exactly flat, the yaw reading will be incorrect.
https://github.com/yelvlab/ESP32-Arduino-MPU9250/blob/2124a5d8eecb90aea90d8163011271a9d07243e0/examples/compass/compass.ino#L50