Hi Zoggbarr, In order to validate the output, we would need the datalog of timestamp, accelerometer, gyroscope, magnetometer, calibration statuses, quaternions and of course an indication from your side on which timestamps to look for the jumps in heading. Hypothesis: magnetic data not reliable Heading is compensated by using magnetometer data, and the magnetic fields indoors are far from perfect. In addition, since you mention an RC car, I can assume that you have electrical motors with permanent magnets, a lithium battery that contains cobalt, and draw multiple amperes of electrical current. All of these factors can affect the magnetic field around the sensor and ruin your data integrity. If the magnetic field is not stable, you can always use the IMU mode, or relocate the sensor further from the disturbances o_o
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