Fused is an iOS Framework that contains Objective-C ports of the MadgwickAHRS and MahonyAHRS sensor fusion algorithms. The original C implementations of MadgwickAHRS and MahonyAHRS can be found here.
Fused should be used via Carthage dependency manager. Follow the Carthage build instructions for building for iOS. Essentially:
github "softwarenerd/Fused"
carthage update
Add a run script that uses the carthage copy-frameworks command to copy the Fused.framework
See CoreMotionTestDriver for samples of how to use Fused.
The RawIMU project contains a sample app that uses Fused.
~/Code git clone git@github.com:softwarenerd/RawIMU.git
- Additional unit tests would be nice.
Fused is released under the GNU General Public License.