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Developed by Kristian Lauszus, TKJ Electronics 2012

The code is released under the GNU General Public License.

This is the firmware for the digital IMU MPU-6050 from InvenSense: http://invensense.com/mems/gyro/mpu6050.html.

Kalman.h is from the Kalman filter library I wrote: https://github.com/TKJElectronics/KalmanFilter.

For more information see my blog posts: http://arduino.cc/forum/index.php/topic,58048.0.html and 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.