Thank you for your reply. I will try to modify this part of the code and update u.

Hi, recently i bought an openIMU300ZI IMU for outdoor ugv nagivation. I have a problem with the heading.

I am currently I using the VG_AHRS application, but the problem is, even when the robot is not moving, the value either keeps increasing or decreasing. For example, let's say that the current heading is 30 degrees even without moving the robot, overtime the value keep increase or decrease until it have a significant dift it would became 60 or 70. and even when moving the robot. the dift keep happening.

This is my first time to use openimu products, I am seeking your assistance.