https://github.com/dunknowcoding/gy85_kalman_comp_arduino

https://github.com/dunknowcoding/gy85_kalman_comp_arduino

Last synced: 27 days ago
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• Host: GitHub
• URL: https://github.com/dunknowcoding/gy85_kalman_comp_arduino
• Owner: dunknowcoding
• License: mit
• Created: 2026-01-12T16:14:50.000Z (5 months ago)
• Default Branch: master
• Last Pushed: 2026-01-13T02:54:06.000Z (5 months ago)
• Last Synced: 2026-01-13T05:58:59.857Z (5 months ago)
• Language: C++
• Size: 5.86 KB
• Stars: 0
• Watchers: 0
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# GY-85 Arduino Demo for Kalman Filter & Complementary Filter

---

Code for testing GY-85 9-Axis IMU Sensor. This demo is specially made for YouTube channel **牛志伟机器人实验室** @[NiusRobotLab](https://www.youtube.com/@NiusRobotLab)

## GY-85

One of the classic 9-Axis sensors, based on I2C protocol only. This sensor is favored for testing sensor fusion algorithms (At least I did 15 years ago). This module consists of 3 sensors:

Accelerometer - ADXL345, Magnetometer - HMC5883 (Some using QMC5883), Gyroscope - ITG3200.

## Library Dependencies

1. Kalman Filter Library

2. Grove 3-Axis Digital Gyro

3. Adafruit ADXL345

4. Adafruit HMC5883 Unified

## Check This Video for Details

The sensor has been tested with 

- Arduino Uno R4 WiFi (Renesas RA4M1)

- Nano V4.0 (ATmega328PB)

- WeMos D1 Mini (ESP8266EX)

:point_down:

[![BNO055 Test](https://img.youtube.com/vi/XcI4O_OJTvk/0.jpg)](https://www.youtube.com/shorts/XcI4O_OJTvk)