Quaternion-based AHRS using AltIMU-10 & Arduino

Posted by David on 19 November 2013


Pololu forum user Camel recently posted the Quaternion-based AHRS using AltIMU-10 & Arduino. This is an Arduino program that can read data from our AltIMU-10 sensor board, compute the orientation of the board, and output it over serial. It uses quaternions internally to represent the rotation, but can output Euler anglers, a rotation matrix, or a quaternion. The MinIMU-9 v2 is just an AltIMU-10 without a pressure sensor, so the code can be made to work with a MinIMU-9 v2 by commenting out a few lines.

The AHRS program is part of the Firetail UAV System, an open source UAV autopilot system that is currently under development. You can follow the the project’s progress on its blog.

0 comments

Post a comment

Using your Pololu account allows you to customize your avatar and manage your comments; you can also post anonymously.

New Products

5V, 500mA Step-Down Voltage Regulator D45V5F5
JST PH-Style Cable, 3-Pin, Female-Female, 10cm
JST SH-Style Cable, 2-Pin, Single-Ended Female, 30cm
ACS37042KLHBLT-010B3 Current Sensor Micro Carrier -10A to +10A, 3.3V
0.100″ (2.54 mm) Breakaway Male Header: 1×10-Pin, Straight, Black, 25-Pack
Pololu I²C Isolator with Isolated Power and Connectors, ISO1640, MIE1W0505BGLVH, 5V/3.3V, 200mA
5V Step-Up Voltage Regulator U3V9F5
Pololu RC Switch with Isolated Solid State Relay/Switch, SPST, 30V, 10A (Soldered Connectors)
JST SH-Style Cable, 4-Pin, Female-Female, 10cm
5V, 600mA Step-Down Voltage Regulator D24V7F5
Log In
Pololu Robotics & Electronics
Shopping cart
(702) 262-6648
Same-day shipping, worldwide
Menu
Shop Blog Forum Support
My account Comments or questions? About Pololu Contact Ordering information Distributors