add

Author: vigneshrajap

gnss_waypoint_navigation/config/dual_ekf_navsat.yaml

@@ -93,15 +93,15 @@ ekf_se_map:
   use_control: false
 
 navsat_transform:
-  frequency: 30
-  delay: 1.0
+  frequency: 20
+  delay: 3.0
   magnetic_declination_radians: 0.0523599 #Frogn Fields  # For lat/long 55.944831, -3.186998
   yaw_offset: 0.0  # IMU reads 0 facing magnetic north, not east, then add (pi/2)
   zero_altitude: true
-  broadcast_utm_transform: false
+  broadcast_utm_transform: true
   publish_filtered_gps: true
   use_odometry_yaw: false
-  wait_for_datum: true
+  wait_for_datum: false
   #datum: [59.6647165018, 10.6839287517, 0.0] #July Frogn Field
   #datum: [59.6588517903, 10.67237459, 0.0] #October Frogn Field
   #datum: [59.6610614035, 10.67478451, 0.0] #October Frogn Field