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https://github.com/adafruit/adafruit_ahrs

Arduino library for AHRS (Attitude and Heading Reference System) for Adafruit motion sensors
https://github.com/adafruit/adafruit_ahrs

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Arduino library for AHRS (Attitude and Heading Reference System) for Adafruit motion sensors

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# Adafruit AHRS library

This library lets you take an accelerometer, gyroscope and magnetometer and
combine the data to create orientation data.

Options are Mahony (lowest memory/computation), Madgwick (fair memory/computation) and NXP fusion/Kalman (highest).

While in theory these can run on an Arduino UNO/Atmega328P we really recommend a SAMD21 or better. Having single-instruction floating point multiply and plenty of RAM will help a lot!