microahrs

AHRS algorithm for fusion of data from Gyroscope/ Acceleromenter/ Magnetometer / Termometer into orienation (roll / pith / yaw)

Video example

For Visualization programm see https://github.com/titanproger/ahrs_web_visualisator

Based on Madgwick algorithm See: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/

• see @link = https://github.com/ccny-ros-pkg/imu_tools/tree/indigo/imu_filter_madgwick

#Features:

• Temperature compensation
• Gyro drift compensation
• Magnetormeter calibration
• Can Bus
• Serial Bus
• Compass (Yaw)
• Roll
• Pith

Used Hardware:

Microcontroller: Arduino | STM32f103C8T6 (Blue pill) Acc/magnetometer/termometer: FXAS21002C Gyro:FXOS8700 CanBus Controller: mcp2515

Used software:

Linux OS: Ubuntu

Please clone common https://github.com/MicroAHRS/common to folder above this