Quaternion-based AHRS using AltIMU-10 & Arduino

Posted by David on 19 November 2013


Quaternion-based AHRS using AltIMU-10 & Arduino

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

0.100" (2.54 mm) Breakaway Male Header: 1×40-Pin, Straight, Yellow
Pololu Wheel 40×7mm Pair - Red
0.100" (2.54 mm) Breakaway Male Header: 1×40-Pin, Straight, Blue
0.100" (2.54 mm) Breakaway Male Header: 2×40-Pin, Right Angle
Pololu Wheel 40×7mm Pair - Black
0.100" (2.54 mm) Breakaway Male Header: 1×40-Pin, Straight, Red
AMIS-30543 Stepper Motor Driver Carrier
Pololu Wheel 40×7mm Pair - White
Sharp GP2Y0A60SZLF Analog Distance Sensor 10-150cm
0.100" (2.54 mm) Breakaway Male Header: 1×40-Pin, Straight, White
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