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This is a Kalman filter used to calculate the angle, rate and bias from from the input of an accelerometer/magnetometer and a gyroscope.
Arduino Processing C++
Latest commit a09adaf 1 @Lauszus Lauszus Updated version
Fixes #4

Developed by Kristian Lauszus, TKJ Electronics 2012

The code is released under the GNU General Public License.

This is a Kalman filter library for any microcontroller that supports float math.

It can also be used with Arduino, simply copy the folder to your library folder.

My assignment I wrote back in High School regarding Kalman filter can be found here:

For more information see my blog post: or send me an email at

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