Software for "Guide to gyro and accelerometer with Arduino including Kalman filtering"
Arduino Processing Objective-C
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gpl2.txt First release May 30, 2012

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