RawIMU is a test program for the Fused iOS framework. 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.
RawIMU uses Carthage dependency manager. Follow the Carthage build instructions for using Carthage.
~/Code git clone git@github.com:softwarenerd/RawIMU.git
RawIMU provides detailed logging so you can compare the performance of the MadgwickAHRS and MahonyAHRS sensor fusion algorithms to CoreMotion.
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CoreMotion Raw Data
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Gyroscope (rad/s): X: 0.00100, Y: 0.00008, Z: -0.00129
Gyroscope (deg/s): X: 0.05717, Y: 0.00466, Z: -0.07409
Accelerometer (g): X: -0.00468, Y: 0.02273, Z: -0.99973
Magnetometer (uT): X: 2.56992, Y: -26.00712, Z: -37.02501
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Sensor Fusion / CoreMotion Comparison
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Sensor Fusion Roll (deg): -0.26764
CoreMotion Roll (deg): -0.26821
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Sensor Fusion Pitch (deg): -1.28492
CoreMotion Pitch (deg): -1.30249
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Sensor Fusion Yaw (deg): 84.16334
CoreMotion Yaw (deg): 85.44150
RawIMU is released under the GNU General Public License.