Arduino library for performing orientation sensor fusion on either 6DoF or 9DoF systems. The filters implemented in this library are all a type of complementary filter. These filters integrate sensor data with an estimated orientation computed from the previous update in order to cancel errors and produce an updated orientation estimate. These types of filters are quick to execute but they are not quite as accurate nor as stable as a Kalman filter.
- Download the zip archive of this library.
- Unzip and move the folder into your Arduino libraries folder.
- Rename the folder you just moved to Fusion.
Include the header of the filter you wish to use, either imu_filter.h for 6DoF systems or marg_filter.h for 9DoF systems. Set the filter gains and the sample rate. To pass new sensor readings to the filter, use the update() function. Orientation is computed as a quaternion. This orientation can be either retrieved directly or it can be converted to either Euler angles or an axis-angle. Note that all angular values will be in radians.
See the provided examples for information on which objects and functions to use. Note that the examples were designed to be run on an Arduino connected to a LSM9DS0 MEMS sensor over I2C. A Processing sketch is also included which can be used to help you to verify that the Fusion library is setup and working correctly on your system.