eagleye Version 1.5.0(ROS1)

・Dual antenna support
Use eagleye_rt_dualantenna.launch to use this feature.
・Safety mechanism in case Yawrate Offset and Velocity Scalefactor estimation fails
You can set the threshold of the estimated value in velocity_scale_factor.th_velocity_scale_factor_percent.
Compare eagleye angular rates with non-eagleye angular rate sources by setting monitor.use_compare_yawrate to true
・Mechanism to prevent eagleye from being estimated when starting without standing still to improve accuracy
・Make the parameter specify the sensor period instead of the number of buffers
See below for details on parameters.
https://github.com/MapIV/eagleye/blob/main-ros1/eagleye_rt/config/README.md