6DOF Arduino: Compass & Accel...

krazatchu's picture
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This is a mixed bag library for compass and accelerometer fusing...
The three main parts are:

1) Compass Hard Iron Offset Auto-Solver
2) Accelerometer Yaw Pitch & Roll Calculator
3) 360° Compass Tilt Compensation

The auto solver is a Gaussian elimination solver requiring at least 6 datasets, the code included will filter and capture 8 datasets around the sphere and compute the best solution possible. Tilt compensation is not angle limited, it will compensate in any orientation.

The library, a more complete description and a 3D scatter plot video are here:
http://n0m1.com/2012/02/27/6dof-arduino-compass-accelerometer/

Michael