# Yaw angle fusion for indoor navigation

**URL:** <https://discuss.px4.io/t/yaw-angle-fusion-for-indoor-navigation/48278>\
**Category:** PX4 Autopilot\
**Created:** [January 10, 2026, 11:06am UTC](https://discuss.px4.io/t/yaw-angle-fusion-for-indoor-navigation/48278 "2026-01-10T11:06:01Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![Amit\_Singh](https://discuss.px4.io/user_avatar/discuss.px4.io/amit_singh/32/18998_2.png) [@Amit\_Singh](https://discuss.px4.io/u/Amit_Singh)\
**Post date:** [January 10, 2026, 11:06am UTC](https://discuss.px4.io/t/yaw-angle-fusion-for-indoor-navigation/48278/1 "2026-01-10T11:06:01Z")

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Continuing the discussion from [Assistance Required – Offboard Mode in indoor environment using 2D lidar “No Offboard Signal” Error in QGroundControl](https://discuss.px4.io/t/assistance-required-offboard-mode-in-indoor-environment-using-2d-lidar-no-offboard-signal-error-in-qgroundcontrol/46151):

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

> **[Flight Review](https://logs.px4.io/plot_app?log=3fbb2246-41a2-474d-a165-119266d651dd)**

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<div class="post-metadata">

**Author:** ![system](https://discuss.px4.io/uploads/default/original/3X/7/3/73ce918bdcd64854de904f0c8d9ab70ca9723f2a.png) [@system](https://discuss.px4.io/u/system)\
**Post date:** [April 10, 2026, 11:06am UTC](https://discuss.px4.io/t/yaw-angle-fusion-for-indoor-navigation/48278/2 "2026-04-10T11:06:42Z")

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