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: 3×40-Pin, Right Angle
AMIS-30543 Stepper Motor Driver Carrier
Hakko FX-901 Cordless Soldering Iron
12mm Hex Wheel Adapter for 6mm Shaft (2-Pack)
0.100" (2.54 mm) Breakaway Male Header: 1×40-Pin, Straight, Red
Hakko 599B-02 Solder Tip Cleaning Wire Sponge with Holder
75:1 Micro Metal Gearmotor HPCB
30:1 Micro Metal Gearmotor HPCB
Hakko CHP-170 5-1/4 in. Micro Flush Cutter
Hakko FR-300 Desoldering Tool with Carrying Case
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