lengstrom / Arduino Marg
Licence: mit
Arduino MARG/IMU fusion w/ Kalman filter: MPU9150 & arduino
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Arduino MARG
Repo for a MARG arduino implementation. MARG = Inertial/Magnetic Sensor Array
####Prerequisites:
- Download the files here: https://github.com/sparkfun/MPU-9150_Breakout
- Follow the instructions here: https://github.com/sparkfun/MPU-9150_Breakout/tree/master/firmware
- Uses the
MPU9150 Breakout9-axis sensor along w/ your favorite Arduino
To use the library, copy both I2Cdev and MPU6050 into your libraries folder in your main Arduino directory. If you don't have a folder called libraries, create one and drop both files in there. Now you can goto the example sketch named MPU9150_raw (in MPU6050 -> Examples), open and run the main .ino file.
####FAQ:
- Why does my serial monitor spit out gibberish?
- Set its frequency to 38400 baud
####Useful readings
- Algorithm used: http://www.x-io.co.uk/res/doc/madgwick_internal_report.pdf
- Quaternions: http://www.x-io.co.uk/res/doc/quaternions.pdf
- Euler angles to Roll/Pitch/Yaw: http://personal.maths.surrey.ac.uk/st/T.Bridges/SLOSH/3-2-1-Eulerangles.pdf
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