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Is the Yaw information appearing on Message ID 10 Magnetic Heading or True Heading ?

April 26, 2017appearing Id message yaw

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Is the Yaw information appearing on Message ID 10 Magnetic Heading or True Heading ?

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Yaw is magnetic heading on startup and will remain magnetic heading until a GPS position fix is achieved. Then, heading becomes an estimate of true heading based on an internal world magnetic model, even in vertical gyro mode. When in INS mode, and maneuvering is sufficient, the heading is true heading as calculated by the correlation between INS predicted motion and GPS measured motion (i.e., the magnetometer is ignored).