AHRS (Altitude and Heading Reference System) for various Adafruit motion sensors. Includes motion calibration example sketches, as well as calibration orientation output using Mahony, Madgwick, NXP Fusion, etc fusion filters

platformio lib install 449


Adafruit AHRS library

This library lets you take an accelerometer, gyroscope and magnetometer and combine the data to create orientation data.

Options are Mahony (lowest memory/computation), Madgwick (fair memory/computation) and NXP fusion/Kalman (highest).

While in theory these can run on an Arduino UNO/Atmega328P we really recommend a SAMD21 or better. Having single-instruction floating point multiply and plenty of RAM will help a lot!