https://github.com/aster94/sensorfusion

A simple implementation of some complex Sensor Fusion algorithms
https://github.com/aster94/sensorfusion

arduino arduino-library imu sensor sensor-fusion

Last synced: 25 days ago
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A simple implementation of some complex Sensor Fusion algorithms

• Host: GitHub
• URL: https://github.com/aster94/sensorfusion
• Owner: aster94
• License: gpl-3.0
• Created: 2017-11-18T12:17:19.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2023-02-23T10:45:36.000Z (about 2 years ago)
• Last Synced: 2023-11-07T19:01:13.516Z (over 1 year ago)
• Topics: arduino, arduino-library, imu, sensor, sensor-fusion
• Language: C++
• Homepage:
• Size: 92.8 KB
• Stars: 161
• Watchers: 5
• Forks: 40
• Open Issues: 5
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# SensorFusion

Using IMUs is one of the most struggling part of every Arduino lovers, here there is a simple solution.

![Alt text](/extras/axis.png?raw=true "axis")

This library will work with every IMU, it just need the raw data of gyroscope and accelerometer (the magnetometer isn't mandatory), it is based on these two libraries:

- https://github.com/PaulStoffregen/MahonyAHRS 

- https://github.com/PaulStoffregen/MadgwickAHRS 

I just made small modifications in the way the libraries handled the timing between two measurements and melted them together

## Installation

Use the arduino/platformIO library manager or download directly from github

## About

Click on the video to see it on youtube

[![Alt text](https://img.youtube.com/vi/uhsOAhe9qgI/0.jpg)](https://www.youtube.com/watch?v=uhsOAhe9qgI)

please note that the Roll is inverted

I am using an STM32F103F103 known as blue pill but also any Arduino board will work

The IMU is a cheap MPU9250, you could find it everywhere for about 2€ (eBay, Aliexpress, ecc), to use it I strongly suggest you [this library](https://github.com/bolderflight/MPU9250)

If you wish use `IMU_tester` in the extras folder to see how you IMU works (needs Processing)

Note: I am using also this very useful library: [Streaming](https://github.com/geneReeves/ArduinoStreaming)

## Donate

If you liked the library and wish to donate you can sent to [PayPal](https://paypal.me/aster94)