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Arduino sketch for MPU9150 9DoF with AHRS sensor fusion
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Arduino sketch for MPU-9150 9DoF sensor with AHRS sensor fusion

Demonstrate MPU-9150 basic functionality including parameterizing the register addresses, initializing the sensor, getting properly scaled accelerometer, gyroscope, and magnetometer data out, calibration of sensors. Added display functions to allow display to on breadboard monitor. Addition of 9 DoF sensor fusion using open source Madgwick and Mahony filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini and the Teensy 3.1.

Simplified sketch by among other things breaking out the quaternion sensor fusion filter algorithms to a separate file.

A discussion of the use and limitations of this sensor and sensor fusion in general is found here:

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