This is a Kalman filter used to calculate the angle, rate and bias from from the input of an accelerometer/magnetometer and a gyroscope.
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README.md

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: http://www.tkjelectronics.dk/uploads/Kalman_SRP.zip.

For more information see my blog post: http://blog.tkjelectronics.dk/2012/09/a-practical-approach-to-kalman-filter-and-how-to-implement-it or send me an email at kristianl@tkjelectronics.dk.