imu_madgwick_filter

madgwick filter arduino library based on the imu_tool madgwick code by CCNYRoboticsLab link

How to Use the Library

• Download download the library by clicking on the green Code button above (or clone it)

• Move the downloaded library file to your Arduino library folder

  e.g on linux: ... home/Arduino/libraries/

  e.g on windows: ... Documents/Arduino/libraries/

• follow the example imu_sample_template.ino code to see how to use it.

NOTE: you can just check how I used it with the MPU6050 (a 6-axis IMU) - link

Things to NOTE before using the library

Note each steps in the example code (based on the comments) shows you the process of using the madgwick filter Follow the steps and use it based on your own IMU.

If you are using the MPU6050 (a 6-axis IMU) for example, you can skip the magnetometer part - sample code

you just need to basically know how to read the accelerometer, gyroscope (and magnetometer) from your IMU

you will also need to calibrate them and get a calibrated reading.

you will need to convert the sensor readings to the right units before passing them through the madgwick filter.

• convert accelerometer reading to m/s^2
• convert gyroscope reading to rad/sec
• convert magnetometer readings to Tesla

Ensure you know the frame of reference you are working with and specify it during the filter setup.

• whether NED or EWU or NWU frame of reference