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Software for "Guide to gyro and accelerometer with Arduino including Kalman filtering"

branch: master

Developed by Kristian Lauszus, TKJ Electronics 2012

The code is released under the GNU General Public License.

This is the firmware for the my guide at the Arduino forum:,58048.0.html, including a Processing application (see the Graph directory) to visualize the data sent from the Arduino.

There is currently examples for the following IMU's:

  • "IMU Analog Combo Board Razor - 6DOF Ultra-Thin IMU" from Sparkfun:
  • Digital IMU featuring a ITG3205 and a ADXL345
  • MPU-6050 - 3-axis gyroscope and 3-axis accelerometer
  • MPU-6050 and HMC5883L - 3-axis gyroscope, 3-axis accelerometer and 3-axis magnetometer

The Kalman filter used in all the examples can be found at my other repository:

Note that I update the MPU-6050 code more frequently, so you should take a look at that even if you are using one of the other sensors.

For more information fell free to post a question at the guide:,58048.0.html or send me an email at

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