Yaw angle fusion for indoor navigation

PX4 Autopilot
1

Continuing the discussion from Assistance Required – Offboard Mode in indoor environment using 2D lidar “No Offboard Signal” Error in QGroundControl:

Hi,

I have configured all the required configuration for yaw angle fusion , but whatever I am configuring start angle , the vehicle_local_position heading angle always starts with 180 deg or -180 deg.

I don’t think yaw angle is correctly fusing.

Can anyone help me with this.

Attaching logs path

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