CHR-6dm Attitude and Heading Reference System
This IMU from CH Robotics is an Attitude and Heading Reference System (AHRS) that combines three gyro axes, three accelerometer axes, three magnetic compass axes, and a powerful 32-bit ARM Cortex on one tiny, 2.7g board. An on-board Extended Kalman Filter (EKF) handles the tricky data fusion problem, reporting yaw, pitch, and roll angles at up to 300 Hz over a simple TTL serial interface. The CHR-6dm provides built-in routines for gyro bias calibration, and PC software is available for automatic soft and hard iron magnetometer calibration. The Cortex’s programming pins are exposed, and the firmware is open-source.
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- CHR-6dm AHRS datasheet (489k pdf)
- Datasheet for the CHR-6dm attitude and heading reference system (AHRS).
- CHR-6dm AHRS Interface PC application (267k zip)
Windows application for configuring the CHR-6dm AHRS over a serial port and displaying data from the module in real-time.
Note: this software requires the latest version of DirectX.
AHRS Interface PC software for the CHR-6dm AHRS IMU.
- CHR-6dm AHRS firmware v1.0 (630k zip)
- Firmware for the CHR-6dm AHRS (version 1.0). CHR-6dm firmware by CH Robotics is licensed under a Creative Commons Attribution-Share Alike 3.0 United States License
- CHR-6dm AHRS PC application source code (1MB zip)
- Source code (Visual C# project) for the AHRS PC software used to configure the CHR-6dm AHRS and display data from it in real-time. CHR-6dm configuration software by CH Robotics is licensed under a Creative Commons Attribution-Share Alike 3.0 United States License
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