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]

• Raspberry Pi 4B:

  Image Source