AHRS MPU9250 library

Arduino code and jupyter notebooks for AHRS with MPU9250.

Used in rover-firmware.

Status

Feature
Magnetometer hard-iron correction.	✔️
Magnetometer soft-iron correction.	✅
Obtain euler angles from gyroscope integration.	✔️
Obtain euler angles from accelerometer+magnetometer.	✔️
Madwick filter.	✅
Kalman filter.	✅

Project organization:

./
	arduino 	
		mpu9250_capture		Print CSV raw and processed measurements (can be used with Arduino Plotter).
		mpu9250_ahrs.cpp/h  AHRS MPU9250 library.
	data 					CSV captures.
	notebooks				Notebooks with AHRS algorithm development.
	doc						MPU9250 datasheet and other references.
	python					Script to save CSVs.

Axis convention

Implementation details

See: Jupyter Notebook with detailed description of basic AHRS