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openAHRS

openAHRS is a free open-source Software/Hardware IMU / AHRS (Attitude Heading Reference System).
Code is released under the GPL v2 license.

Current functionality

openAHRS is in beta stage. Currently only software is available through github.

Software

A 7-state Kalman Filter is implemented, tracking attitude (roll,pitch,yaw) and gyro bias.
There are some demo applications under the test directory which can be run on any platform. The test-kal7 program simulates noisy input data and writes processed information to an octave file.

openAHRS uses the eigen2 matrix library.

AHRS implementations

Platform-specific AHRS’s are placed inside the IMUs/ folder. Currently there is an AVR32 port only.