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mpu9250_ahrs

MPU9250 IMU driver with AHRS algoritm

Overview

  • Algorithm

    • Madgwick
    • Mahony
    • EKF

  • Platform

    • Python
    • C++
    • Arduino
    • STM32

Build

git clone https://github.com/laitathei/mpu9250_ahrs.git
cd mpu9250_ahrs/cpp/build
cmake ..
make

System Requirement

Ubuntu: 20.04/22.04
Python: 3.10.12
ROS: noetic

System Privileges

sudo cp 99-i2c.rules /etc/udev/rules.d
sudo udevadm control --reload
sudo reboot

C++ Library installation

[click for detail]

  • Install WiringPi (C++):

    git clone https://github.com/WiringPi/WiringPi.git
cd WiringPi
./build

  • Install yaml-cpp (C++):

    git clone https://github.com/jbeder/yaml-cpp
cd yaml-cpp
mkdir build
cd build
cmake -D BUILD_SHARED_LIBS=ON ..
make
sudo make install

Python Library installation

[click for detail] 
```
chmod +x install.sh
sudo ./install.sh
pip3 install -r requirements.txt
```

Wiring diagram

[click for detail]