usag of RELPOSNED

[ghanim-mukhtar]

Any one used the RELPOSNED (normally the ROS2 topic /navrelposned ? I am trying to exploit this and namely the length part of it (i.e. /navrelposned/rel_pos_length and heading) but the values not always valid, i did a test outside and I have good values but not all the time so I am wondering if I am missing something to render the performance more viable ? My setup is two antennas in a moving base configuration

[ndmmdn]

If you are using a Message of NavRELPOSNED9 Then you should use the rel_pos_hp_length. It is called the High precision length, and I believe there are more corrections applied. I haven't used it myself, but had considered it and had the same problem you're having now.