We're now using the Z900_navX_Get_SystemInformation_Status.vi to check for IMU_CAL_STATE_COMPLETE. That works. Initially we still couldn't zero the YAW though until we noticed a strange phenomenon. If we invoke the SET_YAW_ZERO.vi twice in a row the YAW value zeroes perfectly every time
. I have no explanation for that but it appears to be solid. We will do more testing on that tonight.