Random initial Orientation Madgwick filter

[Somethingout]

Hi,

(ROS2 Humble) I am using the Madgwick filter to get imu orientation from linear and angular velocities and then I fuse the orientation (yaw) with the robot wheel odometry (vx,vy,vyaw). it is working fine however sometimes when I start my robot I get a random initial orientation but the expected orientation would be to have the robot frame/imu frame aligned with the odom frame.

• Robot_localization package is responsible for publishing tf.
• The madgwick filter has the following settings :
  madgwick_filter_use_mag: False
  madgwick_filter_gain: 0.01
  madgwick_filter_output_frame_id: imu_link
  madgwick_filter_fixed_frame: base_link
  madgwick_filter_world_frame: enu
  madgwick_filter_publish_tf: False

How can I fix this issue?

Thanks.