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

Free Circuit Cellar magazine December 2022
6V, 2.5A Step-Up/Step-Down Voltage Regulator S13V25F6
DRV8434S SPI Stepper Motor Driver Carrier, Potentiometer for Max. Current Limit
3pi+ 2040 Robot - Standard Edition (30:1 MP Motors), Assembled
Free Circuit Cellar magazine August 2022
12V Step-Up Voltage Regulator U3V16F12
Motoron M2H24v16 Dual High-Power Motor Controller for Raspberry Pi (No Connectors or Standoffs)
Motoron M2S18v18 Dual High-Power Motor Controller Shield for Arduino (Connectors Soldered)
Motoron M2H18v20 Dual High-Power Motor Controller Kit for Raspberry Pi
Motoron M1U256 Single Serial Motor Controller (Header Pins Soldered)
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