Motion Tracking Glove

A motion tacking glove for a variety of applications, including AR, VR, medical, and robotics.

Apr 24, 2018

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4658 views

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2 respects

wearables

robots

games

Components and supplies

SparkFun IMU Breakout - MPU-9250

SparkFun Logic Level Converter - Bi-Directional

Arduino UNO

Tools and machines

Computer that can run Unity

Soldering iron (generic)

Apps and platforms

Arduino IDE

Unity

Project description

Code

SampleScene.unity

csharp

This code will probably not work as it is straight from a Unity Scene file. If you need the scene you will have to contact me and get it. I can't upload it to github as it is too big. I also don't think hackster.io supports uploading Unity files. Sorry!

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Unity Quaternion Filter

csharp

quaternion method

1using System.Collections;
2using System.Collections.Generic;
3using   UnityEngine;
4
5public class Cleaner : MonoBehaviour {
6
7    private static   Cleaner inst;
8    public static Cleaner instance { get { return inst; } }
9
10     private void Awake()
11    {
12        if (inst != null && inst != this)
13             Destroy(this.gameObject);
14        else
15            inst = this;
16     }
17
18    
19
20
21    /// <summary>
22    /// Gets or sets the sample   period.
23    /// </summary>
24    [SerializeField] public float SamplePeriod   = 501;//501; //delta t. used to be 512
25
26    /// <summary>
27    /// Gets   or sets the algorithm gain beta.
28    /// </summary>
29    [SerializeField] public   float Beta = 0.1f;
30
31    /// <summary>
32    /// Gets or sets the Quaternion   output.
33    /// </summary>
34    [SerializeField] public float[] quat;
35
36     public Quaternion GetQuaternionData(float gz, float gx, float gy, float az,   float ax, float ay, float mz, float mx, float my)
37    {
38        //float.Parse(stateInfo[0])
39         MadgwickQuaternionUpdate(gz, gx, gy, az, ax, ay, mz, mx, my);
40        Quaternion   retQuat = new Quaternion(quat[0], quat[1], quat[2], quat[3]);
41        return   retQuat;
42    }
43
44    /// <summary>
45    /// Algorithm AHRS update method.   Requires only gyroscope and accelerometer data.
46    /// </summary>
47    ///   <param name="gx">
48    /// Gyroscope x axis measurement in radians/s.
49    ///   </param>
50    /// <param name="gy">
51    /// Gyroscope y axis measurement   in radians/s.
52    /// </param>
53    /// <param name="gz">
54    /// Gyroscope   z axis measurement in radians/s.
55    /// </param>
56    /// <param name="ax">
57     /// Accelerometer x axis measurement in any calibrated units.
58    /// </param>
59     /// <param name="ay">
60    /// Accelerometer y axis measurement in any calibrated   units.
61    /// </param>
62    /// <param name="az">
63    /// Accelerometer   z axis measurement in any calibrated units.
64    /// </param>
65    /// <param   name="mx">
66    /// Magnetometer x axis measurement in any calibrated units.
67     /// </param>
68    /// <param name="my">
69    /// Magnetometer y axis measurement   in any calibrated units.
70    /// </param>
71    /// <param name="mz">
72     /// Magnetometer z axis measurement in any calibrated units.
73    /// </param>
74     /// <remarks>
75    /// Optimised for minimal arithmetic.
76    /// Total   : 160
77    /// Total *: 172
78    /// Total /: 5
79    /// Total sqrt: 5
80     /// </remarks> 
81    public void MadgwickQuaternionUpdate(float gz, float   gx, float gy, float az, float ax, float ay, float mz, float mx, float my)
82    {
83         float q1 = quat[0], q2 = quat[1], q3 = quat[2], q4 = quat[3];   // short   name local variable for readability
84        float norm;
85        float hx,   hy, _2bx, _2bz;
86        float s1, s2, s3, s4;
87        float qDot1, qDot2,   qDot3, qDot4;
88
89        // Auxiliary variables to avoid repeated arithmetic
90         float _2q1mx;
91        float _2q1my;
92        float _2q1mz;
93        float   _2q2mx;
94        float _4bx;
95        float _4bz;
96        float _2q1 = 2f   * q1;
97        float _2q2 = 2f * q2;
98        float _2q3 = 2f * q3;
99        float   _2q4 = 2f * q4;
100        float _2q1q3 = 2f * q1 * q3;
101        float _2q3q4   = 2f * q3 * q4;
102        float q1q1 = q1 * q1;
103        float q1q2 = q1 * q2;
104         float q1q3 = q1 * q3;
105        float q1q4 = q1 * q4;
106        float   q2q2 = q2 * q2;
107        float q2q3 = q2 * q3;
108        float q2q4 = q2 * q4;
109         float q3q3 = q3 * q3;
110        float q3q4 = q3 * q4;
111        float   q4q4 = q4 * q4;
112
113        // Normalise accelerometer measurement
114        norm   = (float)Mathf.Sqrt(ax * ax + ay * ay + az * az);
115        if (norm == 0f) return;   // handle NaN
116        norm = 1 / norm;        // use reciprocal for division
117         ax *= norm;
118        ay *= norm;
119        az *= norm;
120
121        //   Normalise magnetometer measurement
122        norm = (float)Mathf.Sqrt(mx * mx +   my * my + mz * mz);
123        if (norm == 0f) return; // handle NaN
124        norm   = 1 / norm;        // use reciprocal for division
125        mx *= norm;
126        my   *= norm;
127        mz *= norm;
128
129        // Reference direction of Earth's   magnetic field
130        _2q1mx = 2f * q1 * mx;
131        _2q1my = 2f * q1 * my;
132         _2q1mz = 2f * q1 * mz;
133        _2q2mx = 2f * q2 * mx;
134        hx =   mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz *   q4 - mx * q3q3 - mx * q4q4;
135        hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2   + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
136        _2bx   = (float)Mathf.Sqrt(hx * hx + hy * hy);
137        _2bz = -_2q1mx * q3 + _2q1my   * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
138         _4bx = 2f * _2bx;
139        _4bz = 2f * _2bz;
140
141        // Gradient   decent algorithm corrective step
142        s1 = -_2q3 * (2f * q2q4 - _2q1q3 - ax)   + _2q2 * (2f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) +   _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) +   _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f -   q2q2 - q3q3) - mz);
143        s2 = _2q4 * (2f * q2q4 - _2q1q3 - ax) + _2q1 * (2f   * q1q2 + _2q3q4 - ay) - 4f * q2 * (1 - 2f * q2q2 - 2f * q3q3 - az) + _2bz * q4 *   (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz *   q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2)   * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
144        s3 = -_2q1   * (2f * q2q4 - _2q1q3 - ax) + _2q4 * (2f * q1q2 + _2q3q4 - ay) - 4f * q3 * (1 -   2f * q2q2 - 2f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 -   q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4)   + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) +   _2bz * (0.5f - q2q2 - q3q3) - mz);
145        s4 = _2q2 * (2f * q2q4 - _2q1q3 -   ax) + _2q3 * (2f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f   - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx *   (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) +   _2bz * (0.5f - q2q2 - q3q3) - mz);
146        norm = 1f / (float)Mathf.Sqrt(s1 *   s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
147        s1   *= norm;
148        s2 *= norm;
149        s3 *= norm;
150        s4 *= norm;
151
152         // Compute rate of change of quaternion
153        qDot1 = 0.5f * (-q2 *   gx - q3 * gy - q4 * gz) - Beta * s1;
154        qDot2 = 0.5f * (q1 * gx + q3 * gz   - q4 * gy) - Beta * s2;
155        qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx)   - Beta * s3;
156        qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - Beta * s4;
157
158         // Integrate to yield quaternion
159        q1 += qDot1 * SamplePeriod;
160         q2 += qDot2 * SamplePeriod;
161        q3 += qDot3 * SamplePeriod;
162        q4   += qDot4 * SamplePeriod;
163        norm = 1f / (float)Mathf.Sqrt(q1 * q1 + q2 *   q2 + q3 * q3 + q4 * q4);    // normalise quaternion
164        quat[0] = q1 * norm;
165         quat[1] = q2 * norm;
166        quat[2] = q3 * norm;
167        quat[3]   = q4 * norm;
168    }
169
170    // NOT DONE YET
171    public void MahonyQuaternionUpdate(float   gz, float gx, float gy, float az, float ax, float ay, float mz, float mx, float   my)
172    {
173        float q1 = quat[0], q2 = quat[1], q3 = quat[2], q4 = quat[3];    // short name local variable for readability
174        float norm;
175        float   hx, hy, bx, bz;
176        float vx, vy, vz, wx, wy, wz;
177        float ex, ey,   ez;
178        float pa, pb, pc;
179
180        // Auxiliary variables to avoid   repeated arithmetic
181        float q1q1 = q1 * q2;
182        float q1q2 = q1   * q2;
183        float q1q3 = q1 * q3;
184        float q1q4 = q1 * q4;
185        float   q2q2 = q2 * q2;
186        float q2q3 = q2 * q3;
187        float q2q4 = q2 * q4;
188         float q3q3 = q3 * q3;
189        float q3q4 = q3 * q4;
190        float   q4q4 = q4 * q4;
191
192        // Normalise accelerometer measurement
193        norm   = (float)Mathf.Sqrt(ax * ax + ay * ay + az * az);
194        if (norm == 0f) return;
195         norm = 1.0f / norm;
196        mx *= norm;
197        my *= norm;
198        mz   *= norm;
199
200        // Reference direction of Earth's magnetic field
201        hx   = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4   + q1q3);
202        hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 +   q4q4) + 2.0f * mz * (q3q4 - q1q2);
203        bx = (float)Mathf.Sqrt((hx * hx) +   (hy * hy));
204        bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2)   + 2.0f * mz * (0.5f - q2q2 - q3q3);
205
206
207        // Estimated direction of   gravity and magnetic field
208        vx = 2.0f * (q2q4 - q1q3);
209        vy =   2.0f * (q1q2 + q3q4);
210        vz = q1q1 - q2q2 - q3q3 + q4q4;
211        wx =   2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
212        wy = 2.0f   * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
213        wz = 2.0f * bx * (q1q3   + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
214
215        // Error is cross product   between estimated direction and measured direction of gravity
216        ex = (ay   * vz - az * vy) + (my * wz - mz * wy);
217        ey = (az * vx - ax * vz) + (mz   * wx - mx * wz);
218        ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
219
220         /*
221             * 
222             * unfinished business
223             *   need to keep working
224             * the below is still just copied from above   for reference,
225             * so therefore the below code has no significance   and once reach
226             * near the same point delete
227             * 
228              * also have no idea what Ki is above so need to check it out. 
229              * otherwise the code will bork itself
230             * 
231             *   end
232             * 
233             * */
234
235        /*
236        if (Ki   > 0.0f)
237        {
238            eInt[0] += ex;
239            
240
241
242
243         // Gradient decent algorithm corrective step
244        s1 = -_2q3 * (2f   * q2q4 - _2q1q3 - ax) + _2q2 * (2f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f   - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx *   (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) +   _2bz * (0.5f - q2q2 - q3q3) - mz);
245        s2 = _2q4 * (2f * q2q4 - _2q1q3 -   ax) + _2q1 * (2f * q1q2 + _2q3q4 - ay) - 4f * q2 * (1 - 2f * q2q2 - 2f * q3q3 -   az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx   * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx *   q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
246         s3 = -_2q1 * (2f * q2q4 - _2q1q3 - ax) + _2q4 * (2f * q1q2 + _2q3q4 - ay)   - 4f * q3 * (1 - 2f * q2q2 - 2f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx   * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) *   (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx   * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
247        s4 = _2q2 * (2f   * q2q4 - _2q1q3 - ax) + _2q3 * (2f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz *   q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 +   _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx   * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
248        norm = 1f / (float)Mathf.Sqrt(s1   * s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
249        s1   *= norm;
250        s2 *= norm;
251        s3 *= norm;
252        s4 *= norm;
253
254         // Compute rate of change of quaternion
255        qDot1 = 0.5f * (-q2 *   gx - q3 * gy - q4 * gz) - Beta * s1;
256        qDot2 = 0.5f * (q1 * gx + q3 * gz   - q4 * gy) - Beta * s2;
257        qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx)   - Beta * s3;
258        qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - Beta * s4;
259
260         // Integrate to yield quaternion
261        q1 += qDot1 * SamplePeriod;
262         q2 += qDot2 * SamplePeriod;
263        q3 += qDot3 * SamplePeriod;
264        q4   += qDot4 * SamplePeriod;
265        norm = 1f / (float)Mathf.Sqrt(q1 * q1 + q2 *   q2 + q3 * q3 + q4 * q4);    // normalise quaternion
266        quat[0] = q1 * norm;
267         quat[1] = q2 * norm;
268        quat[2] = q3 * norm;
269        quat[3]   = q4 * norm;
270        */
271    }
272
273
274}
275

using System.Collections;
using System.Collections.Generic;
using   UnityEngine;

public class Cleaner : MonoBehaviour {

    private static   Cleaner inst;
    public static Cleaner instance { get { return inst; } }

     private void Awake()
    {
        if (inst != null && inst != this)
             Destroy(this.gameObject);
        else
            inst = this;
     }

    


    /// <summary>
    /// Gets or sets the sample   period.
    /// </summary>
    [SerializeField] public float SamplePeriod   = 501;//501; //delta t. used to be 512

    /// <summary>
    /// Gets   or sets the algorithm gain beta.
    /// </summary>
    [SerializeField] public   float Beta = 0.1f;

    /// <summary>
    /// Gets or sets the Quaternion   output.
    /// </summary>
    [SerializeField] public float[] quat;

     public Quaternion GetQuaternionData(float gz, float gx, float gy, float az,   float ax, float ay, float mz, float mx, float my)
    {
        //float.Parse(stateInfo[0])
         MadgwickQuaternionUpdate(gz, gx, gy, az, ax, ay, mz, mx, my);
        Quaternion   retQuat = new Quaternion(quat[0], quat[1], quat[2], quat[3]);
        return   retQuat;
    }

    /// <summary>
    /// Algorithm AHRS update method.   Requires only gyroscope and accelerometer data.
    /// </summary>
    ///   <param name="gx">
    /// Gyroscope x axis measurement in radians/s.
    ///   </param>
    /// <param name="gy">
    /// Gyroscope y axis measurement   in radians/s.
    /// </param>
    /// <param name="gz">
    /// Gyroscope   z axis measurement in radians/s.
    /// </param>
    /// <param name="ax">
     /// Accelerometer x axis measurement in any calibrated units.
    /// </param>
     /// <param name="ay">
    /// Accelerometer y axis measurement in any calibrated   units.
    /// </param>
    /// <param name="az">
    /// Accelerometer   z axis measurement in any calibrated units.
    /// </param>
    /// <param   name="mx">
    /// Magnetometer x axis measurement in any calibrated units.
     /// </param>
    /// <param name="my">
    /// Magnetometer y axis measurement   in any calibrated units.
    /// </param>
    /// <param name="mz">
     /// Magnetometer z axis measurement in any calibrated units.
    /// </param>
     /// <remarks>
    /// Optimised for minimal arithmetic.
    /// Total   : 160
    /// Total *: 172
    /// Total /: 5
    /// Total sqrt: 5
     /// </remarks> 
    public void MadgwickQuaternionUpdate(float gz, float   gx, float gy, float az, float ax, float ay, float mz, float mx, float my)
    {
         float q1 = quat[0], q2 = quat[1], q3 = quat[2], q4 = quat[3];   // short   name local variable for readability
        float norm;
        float hx,   hy, _2bx, _2bz;
        float s1, s2, s3, s4;
        float qDot1, qDot2,   qDot3, qDot4;

        // Auxiliary variables to avoid repeated arithmetic
         float _2q1mx;
        float _2q1my;
        float _2q1mz;
        float   _2q2mx;
        float _4bx;
        float _4bz;
        float _2q1 = 2f   * q1;
        float _2q2 = 2f * q2;
        float _2q3 = 2f * q3;
        float   _2q4 = 2f * q4;
        float _2q1q3 = 2f * q1 * q3;
        float _2q3q4   = 2f * q3 * q4;
        float q1q1 = q1 * q1;
        float q1q2 = q1 * q2;
         float q1q3 = q1 * q3;
        float q1q4 = q1 * q4;
        float   q2q2 = q2 * q2;
        float q2q3 = q2 * q3;
        float q2q4 = q2 * q4;
         float q3q3 = q3 * q3;
        float q3q4 = q3 * q4;
        float   q4q4 = q4 * q4;

        // Normalise accelerometer measurement
        norm   = (float)Mathf.Sqrt(ax * ax + ay * ay + az * az);
        if (norm == 0f) return;   // handle NaN
        norm = 1 / norm;        // use reciprocal for division
         ax *= norm;
        ay *= norm;
        az *= norm;

        //   Normalise magnetometer measurement
        norm = (float)Mathf.Sqrt(mx * mx +   my * my + mz * mz);
        if (norm == 0f) return; // handle NaN
        norm   = 1 / norm;        // use reciprocal for division
        mx *= norm;
        my   *= norm;
        mz *= norm;

        // Reference direction of Earth's   magnetic field
        _2q1mx = 2f * q1 * mx;
        _2q1my = 2f * q1 * my;
         _2q1mz = 2f * q1 * mz;
        _2q2mx = 2f * q2 * mx;
        hx =   mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz *   q4 - mx * q3q3 - mx * q4q4;
        hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2   + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
        _2bx   = (float)Mathf.Sqrt(hx * hx + hy * hy);
        _2bz = -_2q1mx * q3 + _2q1my   * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
         _4bx = 2f * _2bx;
        _4bz = 2f * _2bz;

        // Gradient   decent algorithm corrective step
        s1 = -_2q3 * (2f * q2q4 - _2q1q3 - ax)   + _2q2 * (2f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) +   _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) +   _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f -   q2q2 - q3q3) - mz);
        s2 = _2q4 * (2f * q2q4 - _2q1q3 - ax) + _2q1 * (2f   * q1q2 + _2q3q4 - ay) - 4f * q2 * (1 - 2f * q2q2 - 2f * q3q3 - az) + _2bz * q4 *   (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz *   q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2)   * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
        s3 = -_2q1   * (2f * q2q4 - _2q1q3 - ax) + _2q4 * (2f * q1q2 + _2q3q4 - ay) - 4f * q3 * (1 -   2f * q2q2 - 2f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 -   q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4)   + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) +   _2bz * (0.5f - q2q2 - q3q3) - mz);
        s4 = _2q2 * (2f * q2q4 - _2q1q3 -   ax) + _2q3 * (2f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f   - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx *   (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) +   _2bz * (0.5f - q2q2 - q3q3) - mz);
        norm = 1f / (float)Mathf.Sqrt(s1 *   s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
        s1   *= norm;
        s2 *= norm;
        s3 *= norm;
        s4 *= norm;

         // Compute rate of change of quaternion
        qDot1 = 0.5f * (-q2 *   gx - q3 * gy - q4 * gz) - Beta * s1;
        qDot2 = 0.5f * (q1 * gx + q3 * gz   - q4 * gy) - Beta * s2;
        qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx)   - Beta * s3;
        qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - Beta * s4;

         // Integrate to yield quaternion
        q1 += qDot1 * SamplePeriod;
         q2 += qDot2 * SamplePeriod;
        q3 += qDot3 * SamplePeriod;
        q4   += qDot4 * SamplePeriod;
        norm = 1f / (float)Mathf.Sqrt(q1 * q1 + q2 *   q2 + q3 * q3 + q4 * q4);    // normalise quaternion
        quat[0] = q1 * norm;
         quat[1] = q2 * norm;
        quat[2] = q3 * norm;
        quat[3]   = q4 * norm;
    }

    // NOT DONE YET
    public void MahonyQuaternionUpdate(float   gz, float gx, float gy, float az, float ax, float ay, float mz, float mx, float   my)
    {
        float q1 = quat[0], q2 = quat[1], q3 = quat[2], q4 = quat[3];    // short name local variable for readability
        float norm;
        float   hx, hy, bx, bz;
        float vx, vy, vz, wx, wy, wz;
        float ex, ey,   ez;
        float pa, pb, pc;

        // Auxiliary variables to avoid   repeated arithmetic
        float q1q1 = q1 * q2;
        float q1q2 = q1   * q2;
        float q1q3 = q1 * q3;
        float q1q4 = q1 * q4;
        float   q2q2 = q2 * q2;
        float q2q3 = q2 * q3;
        float q2q4 = q2 * q4;
         float q3q3 = q3 * q3;
        float q3q4 = q3 * q4;
        float   q4q4 = q4 * q4;

        // Normalise accelerometer measurement
        norm   = (float)Mathf.Sqrt(ax * ax + ay * ay + az * az);
        if (norm == 0f) return;
         norm = 1.0f / norm;
        mx *= norm;
        my *= norm;
        mz   *= norm;

        // Reference direction of Earth's magnetic field
        hx   = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4   + q1q3);
        hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 +   q4q4) + 2.0f * mz * (q3q4 - q1q2);
        bx = (float)Mathf.Sqrt((hx * hx) +   (hy * hy));
        bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2)   + 2.0f * mz * (0.5f - q2q2 - q3q3);


        // Estimated direction of   gravity and magnetic field
        vx = 2.0f * (q2q4 - q1q3);
        vy =   2.0f * (q1q2 + q3q4);
        vz = q1q1 - q2q2 - q3q3 + q4q4;
        wx =   2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
        wy = 2.0f   * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
        wz = 2.0f * bx * (q1q3   + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);

        // Error is cross product   between estimated direction and measured direction of gravity
        ex = (ay   * vz - az * vy) + (my * wz - mz * wy);
        ey = (az * vx - ax * vz) + (mz   * wx - mx * wz);
        ez = (ax * vy - ay * vx) + (mx * wy - my * wx);

         /*
             * 
             * unfinished business
             *   need to keep working
             * the below is still just copied from above   for reference,
             * so therefore the below code has no significance   and once reach
             * near the same point delete
             * 
              * also have no idea what Ki is above so need to check it out. 
              * otherwise the code will bork itself
             * 
             *   end
             * 
             * */

        /*
        if (Ki   > 0.0f)
        {
            eInt[0] += ex;
            



         // Gradient decent algorithm corrective step
        s1 = -_2q3 * (2f   * q2q4 - _2q1q3 - ax) + _2q2 * (2f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f   - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx *   (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) +   _2bz * (0.5f - q2q2 - q3q3) - mz);
        s2 = _2q4 * (2f * q2q4 - _2q1q3 -   ax) + _2q1 * (2f * q1q2 + _2q3q4 - ay) - 4f * q2 * (1 - 2f * q2q2 - 2f * q3q3 -   az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx   * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx *   q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
         s3 = -_2q1 * (2f * q2q4 - _2q1q3 - ax) + _2q4 * (2f * q1q2 + _2q3q4 - ay)   - 4f * q3 * (1 - 2f * q2q2 - 2f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx   * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) *   (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx   * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
        s4 = _2q2 * (2f   * q2q4 - _2q1q3 - ax) + _2q3 * (2f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz *   q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 +   _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx   * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
        norm = 1f / (float)Mathf.Sqrt(s1   * s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
        s1   *= norm;
        s2 *= norm;
        s3 *= norm;
        s4 *= norm;

         // Compute rate of change of quaternion
        qDot1 = 0.5f * (-q2 *   gx - q3 * gy - q4 * gz) - Beta * s1;
        qDot2 = 0.5f * (q1 * gx + q3 * gz   - q4 * gy) - Beta * s2;
        qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx)   - Beta * s3;
        qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - Beta * s4;

         // Integrate to yield quaternion
        q1 += qDot1 * SamplePeriod;
         q2 += qDot2 * SamplePeriod;
        q3 += qDot3 * SamplePeriod;
        q4   += qDot4 * SamplePeriod;
        norm = 1f / (float)Mathf.Sqrt(q1 * q1 + q2 *   q2 + q3 * q3 + q4 * q4);    // normalise quaternion
        quat[0] = q1 * norm;
         quat[1] = q2 * norm;
        quat[2] = q3 * norm;
        quat[3]   = q4 * norm;
        */
    }


}

Arduino Script

c_cpp

Arduino script. Courtesy of Kris Winer. Some of it is changed.

1/* MPU9250 Basic Example Code
2 by: Kris Winer
3 date: April 1, 2014
4  license: Beerware - Use this code however you'd like. If you
5 find it useful  you can buy me a beer some time.
6 Modified by Brent Wilkins July 19, 2016
7
8  Demonstrate basic MPU-9250 functionality including parameterizing the register
9  addresses, initializing the sensor, getting properly scaled accelerometer,
10 gyroscope,  and magnetometer data out. Added display functions to allow display
11 to on breadboard  monitor. Addition of 9 DoF sensor fusion using open source
12 Madgwick and Mahony  filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini
13 and the Teensy 3.1.
14
15  SDA and SCL should have external pull-up resistors (to 3.3V).
16 10k resistors  are on the EMSENSR-9250 breakout board.
17
18 Hardware setup:
19 MPU9250 Breakout  --------- Arduino
20 VDD ---------------------- 3.3V
21 VDDI ---------------------  3.3V
22 SDA ----------------------- A4
23 SCL ----------------------- A5
24 GND  ---------------------- GND
25 */
26
27#include "quaternionFilters.h"
28#include  "MPU9250.h"
29
30
31#define AHRS true              // Set to false for basic  data read
32#define SerialDebug true       // Set to true to get Serial output  for debugging
33#define Information false      // Set to true to get imu info
34
35//  Pin definitions
36int intPin = 12;  // These can be changed, 2 and 3 are the Arduinos  ext int pins
37int myLed  = 13;  // Set up pin 13 led for toggling
38
39MPU9250  myIMU;
40
41void setup()
42{
43  Wire.begin();
44  // TWBR = 12;  // 400 kbit/sec  I2C speed
45  Serial.begin(115200);
46
47  // Set up the interrupt pin, its set  as active high, push-pull
48  pinMode(intPin, INPUT);
49  digitalWrite(intPin,  LOW);
50  pinMode(myLed, OUTPUT);
51  digitalWrite(myLed, HIGH);
52
53
54  //  Read the WHO_AM_I register, this is a good test of communication
55  byte c = myIMU.readByte(MPU9250_ADDRESS,  WHO_AM_I_MPU9250);
56  Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c,  HEX);
57  Serial.print(" I should be "); Serial.println(0x71, HEX);
58
59
60  if (c == 0x71) // WHO_AM_I should always be 0x68
61  {
62    Serial.println("MPU9250  is online...");
63
64    // Start by performing self test and reporting values
65    myIMU.MPU9250SelfTest(myIMU.SelfTest);
66    if(Information)
67    {
68    Serial.print("x-axis  self test: acceleration trim within : ");
69    Serial.print(myIMU.SelfTest[0],1);  Serial.println("% of factory value");
70    Serial.print("y-axis self test:  acceleration trim within : ");
71    Serial.print(myIMU.SelfTest[1],1); Serial.println("%  of factory value");
72    Serial.print("z-axis self test: acceleration trim within  : ");
73    Serial.print(myIMU.SelfTest[2],1); Serial.println("% of factory value");
74    Serial.print("x-axis self test: gyration trim within : ");
75    Serial.print(myIMU.SelfTest[3],1);  Serial.println("% of factory value");
76    Serial.print("y-axis self test:  gyration trim within : ");
77    Serial.print(myIMU.SelfTest[4],1); Serial.println("%  of factory value");
78    Serial.print("z-axis self test: gyration trim within  : ");
79    Serial.print(myIMU.SelfTest[5],1); Serial.println("% of factory value");
80    }
81  
82    // Calibrate gyro and accelerometers, load biases in bias registers
83    myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);
84
85
86
87
88    myIMU.initMPU9250();
89    // Initialize device for active mode read of acclerometer,  gyroscope, and
90    // temperature
91    Serial.println("MPU9250 initialized  for active data mode....");
92
93    // Read the WHO_AM_I register of the magnetometer,  this is a good test of
94    // communication
95    byte d = myIMU.readByte(AK8963_ADDRESS,  WHO_AM_I_AK8963);
96    if(Information){
97    Serial.print("AK8963 "); Serial.print("I  AM "); Serial.print(d, HEX);
98    Serial.print(" I should be "); Serial.println(0x48,  HEX);
99    }
100
101
102
103    // Get magnetometer calibration from AK8963 ROM
104    myIMU.initAK8963(myIMU.magCalibration);
105    // Initialize device for active  mode read of magnetometer
106    Serial.println("AK8963 initialized for active  data mode....");
107    if (SerialDebug && Information)
108    {
109      Serial.println("Calibration  values: ");
110      Serial.print("X-Axis sensitivity adjustment value ");
111      Serial.println(myIMU.magCalibration[0], 2);
112      Serial.print("Y-Axis  sensitivity adjustment value ");
113      Serial.println(myIMU.magCalibration[1],  2);
114      Serial.print("Z-Axis sensitivity adjustment value ");
115      Serial.println(myIMU.magCalibration[2],  2);
116    }
117
118
119
120  } // if (c == 0x71)
121  else
122  {
123    Serial.print("Could  not connect to MPU9250: 0x");
124    Serial.println(c, HEX);
125    while(1) ;  // Loop forever if communication doesn't happen
126  }
127}
128
129void loop()
130{
131  // If intPin goes high, all data registers have new data
132  // On interrupt,  check if data ready interrupt
133  if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS)  & 0x01)
134  {  
135    myIMU.readAccelData(myIMU.accelCount);  // Read the x/y/z  adc values
136    myIMU.getAres();
137
138    // Now we'll calculate the accleration  value into actual g's
139    // This depends on scale being set
140    myIMU.ax  = (float)myIMU.accelCount[0]*myIMU.aRes; // - accelBias[0];
141    myIMU.ay = (float)myIMU.accelCount[1]*myIMU.aRes;  // - accelBias[1];
142    myIMU.az = (float)myIMU.accelCount[2]*myIMU.aRes; // -  accelBias[2];
143
144    myIMU.readGyroData(myIMU.gyroCount);  // Read the x/y/z  adc values
145    myIMU.getGres();
146
147    // Calculate the gyro value into actual  degrees per second
148    // This depends on scale being set
149    myIMU.gx = (float)myIMU.gyroCount[0]*myIMU.gRes;
150    myIMU.gy = (float)myIMU.gyroCount[1]*myIMU.gRes;
151    myIMU.gz = (float)myIMU.gyroCount[2]*myIMU.gRes;
152
153    myIMU.readMagData(myIMU.magCount);  // Read the x/y/z adc values
154    myIMU.getMres();
155    // User environmental x-axis correction in milliGauss, should be
156    // automatically  calculated
157    myIMU.magbias[0] = +470.;
158    // User environmental x-axis  correction in milliGauss TODO axis??
159    myIMU.magbias[1] = +120.;
160    //  User environmental x-axis correction in milliGauss
161    myIMU.magbias[2] = +125.;
162
163    // Calculate the magnetometer values in milliGauss
164    // Include factory  calibration per data sheet and user environmental
165    // corrections
166    //  Get actual magnetometer value, this depends on scale being set
167    myIMU.mx =  (float)myIMU.magCount[0]*myIMU.mRes*myIMU.magCalibration[0] -
168               myIMU.magbias[0];
169    myIMU.my = (float)myIMU.magCount[1]*myIMU.mRes*myIMU.magCalibration[1] -
170               myIMU.magbias[1];
171    myIMU.mz = (float)myIMU.magCount[2]*myIMU.mRes*myIMU.magCalibration[2]  -
172               myIMU.magbias[2];
173  } // if (readByte(MPU9250_ADDRESS, INT_STATUS)  & 0x01)
174
175  // Must be called before updating quaternions!
176  myIMU.updateTime();
177
178  // Sensors x (y)-axis of the accelerometer is aligned with the y (x)-axis of
179  // the magnetometer; the magnetometer z-axis (+ down) is opposite to z-axis
180  // (+ up) of accelerometer and gyro! We have to make some allowance for this
181  // orientationmismatch in feeding the output to the quaternion filter. For the
182  // MPU-9250, we have chosen a magnetic rotation that keeps the sensor forward
183  // along the x-axis just like in the LSM9DS0 sensor. This rotation can be
184  // modified to allow any convenient orientation convention. This is ok by
185  // aircraft orientation standards! Pass gyro rate as rad/s
186//  MadgwickQuaternionUpdate(ax,  ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f,  my,  mx, mz);
187  MahonyQuaternionUpdate(myIMU.ax,  myIMU.ay, myIMU.az, myIMU.gx*DEG_TO_RAD,
188                         myIMU.gy*DEG_TO_RAD,  myIMU.gz*DEG_TO_RAD, myIMU.my,
189                         myIMU.mx, myIMU.mz, myIMU.deltat);
190
191  if (!AHRS)
192  {
193    myIMU.delt_t = millis() - myIMU.count;
194    if (myIMU.delt_t  > 500)
195    {
196      if(SerialDebug)
197      {
198        // Print acceleration  values in milligs!
199        Serial.print("X-acceleration: "); Serial.print(1000*myIMU.ax);
200        Serial.print(" mg ");
201        Serial.print("Y-acceleration: "); Serial.print(1000*myIMU.ay);
202        Serial.print(" mg ");
203        Serial.print("Z-acceleration: "); Serial.print(1000*myIMU.az);
204        Serial.println(" mg ");
205
206        // Print gyro values in degree/sec
207        Serial.print("X-gyro rate: "); Serial.print(myIMU.gx, 3);
208        Serial.print("  degrees/sec ");
209        Serial.print("Y-gyro rate: "); Serial.print(myIMU.gy,  3);
210        Serial.print(" degrees/sec ");
211        Serial.print("Z-gyro  rate: "); Serial.print(myIMU.gz, 3);
212        Serial.println(" degrees/sec");
213
214        // Print mag values in degree/sec
215        Serial.print("X-mag field:  "); Serial.print(myIMU.mx);
216        Serial.print(" mG ");
217        Serial.print("Y-mag  field: "); Serial.print(myIMU.my);
218        Serial.print(" mG ");
219        Serial.print("Z-mag  field: "); Serial.print(myIMU.mz);
220        Serial.println(" mG");
221
222        myIMU.tempCount = myIMU.readTempData();  // Read the adc values
223        //  Temperature in degrees Centigrade
224        myIMU.temperature = ((float) myIMU.tempCount)  / 333.87 + 21.0;
225        // Print temperature in degrees Centigrade
226        Serial.print("Temperature  is ");  Serial.print(myIMU.temperature, 1);
227        Serial.println(" degrees  C");
228        
229      }
230
231
232      myIMU.count = millis();
233      digitalWrite(myLed,  !digitalRead(myLed));  // toggle led
234    } // if (myIMU.delt_t > 500)
235  }  // if (!AHRS)
236  else
237  {
238    // Serial print and/or display at 0.5 s rate  independent of data rates
239    myIMU.delt_t = millis() - myIMU.count;
240
241    // update LCD once per half-second independent of read rate
242    if (myIMU.delt_t  > 500)
243    {
244      if(SerialDebug)
245      {
246      
247        // time
248        Serial.print (myIMU.delt_t);
249
250
251        
252        Serial.print("\	");
253        //Serial.print("ax = "); 
254        Serial.print(round((int)1000*myIMU.ax));
255        Serial.print ("\	");
256        //Serial.print(" ay = "); 
257        Serial.print(round((int)1000*myIMU.ay  ));
258        Serial.print ("\	");
259        //Serial.print(" az = "); 
260        Serial.print(round((int)1000*myIMU.az));
261        Serial.print ("\	");
262        //Serial.println(" mg");
263
264        //Serial.print("gx = "); 
265        Serial.print( round(myIMU.gx));  //leaves in degrees per sec
266        //*  3.14159/180));
267        //, 2);
268        Serial.print ("\	");
269        //Serial.print("  gy = "); 
270        Serial.print(round( myIMU.gy)); 
271        //* 3.14159/180));
272        //, 2);
273        Serial.print ("\	");
274        //Serial.print("  gz = "); 
275        Serial.print( round(myIMU.gz)); 
276        //* 3.14159/180));
277        //, 2);
278        Serial.print ("\	");
279        //Serial.println("  deg/s");
280
281        //Serial.print("mx = "); 
282        Serial.print( round((int)myIMU.mx)  );
283        Serial.print ("\	");
284        //Serial.print(" my = "); 
285        Serial.print( round((int)myIMU.my) );
286        Serial.print ("\	");
287        //Serial.print(" mz = "); 
288        Serial.print( round((int)myIMU.mz)  );
289        //Serial.print("/t");
290
291        /**  Quarternions */
292        /*
293        Serial.print(*getQ());
294        Serial.print("\	");
295        Serial.print(*(getQ()  + 1));
296        Serial.print("\	");
297        Serial.print(*(getQ() + 2));
298        Serial.print("\	");
299        Serial.println(*(getQ() + 3));
300        Serial.println("");
301        //Serial.println(" mG");
302*/
303        Serial.println("");
304
305        /*
306        Serial.print("q0 = "); Serial.print(*getQ());
307        Serial.print("  qx = "); Serial.print(*(getQ() + 1));
308        Serial.print(" qy = "); Serial.print(*(getQ()  + 2));
309        Serial.print(" qz = "); Serial.println(*(getQ() + 3));
310        */
311  
312      }
313   
314      
315
316// Define output variables from updated quaternion---these  are Tait-Bryan
317// angles, commonly used in aircraft orientation. In this coordinate  system,
318// the positive z-axis is down toward Earth. Yaw is the angle between  Sensor
319// x-axis and Earth magnetic North (or true North if corrected for local
320//  declination, looking down on the sensor positive yaw is counterclockwise.
321//  Pitch is angle between sensor x-axis and Earth ground plane, toward the
322// Earth  is positive, up toward the sky is negative. Roll is angle between
323// sensor y-axis  and Earth ground plane, y-axis up is positive roll. These
324// arise from the definition  of the homogeneous rotation matrix constructed
325// from quaternions. Tait-Bryan  angles as well as Euler angles are
326// non-commutative; that is, the get the correct  orientation the rotations
327// must be applied in the correct order which for this  configuration is yaw,
328// pitch, and then roll.
329// For more see
330// http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
331//  which has additional links.
332      myIMU.yaw   = atan2(2.0f * (*(getQ()+1) * *(getQ()+2)  + *getQ() *
333                    *(getQ()+3)), *getQ() * *getQ() + *(getQ()+1)  * *(getQ()+1)
334                    - *(getQ()+2) * *(getQ()+2) - *(getQ()+3) *  *(getQ()+3));
335      myIMU.pitch = -asin(2.0f * (*(getQ()+1) * *(getQ()+3) - *getQ()  *
336                    *(getQ()+2)));
337      myIMU.roll  = atan2(2.0f * (*getQ()  * *(getQ()+1) + *(getQ()+2) *
338                    *(getQ()+3)), *getQ() * *getQ()  - *(getQ()+1) * *(getQ()+1)
339                    - *(getQ()+2) * *(getQ()+2) +  *(getQ()+3) * *(getQ()+3));
340      myIMU.pitch *= RAD_TO_DEG;
341      myIMU.yaw   *= RAD_TO_DEG;
342      // Declination of SparkFun Electronics (4005'26.6"N  10511'05.9"W) is
343      //    8 30' E   0 21' (or 8.5) on 2016-07-19
344      //  - http://www.ngdc.noaa.gov/geomag-web/#declination
345      // Declination of XYZ  place (3739'45.9"N 12150'33.3"W)
346      //(Pleasanton, California) 13.32 E   0.34  on 2018-08-29, changing by 0.10W per year
347      //myIMU.yaw   -= 8.5;
348      myIMU.yaw  -= 13.32;
349      myIMU.roll  *= RAD_TO_DEG;
350
351      if(SerialDebug)
352      {
353        /*
354        Serial.print("Yaw, Pitch, Roll: ");
355        Serial.print(myIMU.yaw,  2);
356        Serial.print(", ");
357        Serial.print(myIMU.pitch, 2);
358        Serial.print(", ");
359        Serial.println(myIMU.roll, 2);
360*/
361/*
362        Serial.print("rate = ");
363        Serial.print((float)myIMU.sumCount/myIMU.sum,  2);
364        Serial.println(" Hz");
365*/
366        
367      }
368
369      myIMU.count  = millis();
370      myIMU.sumCount = 0;
371      myIMU.sum = 0;
372    } // if  (myIMU.delt_t > 500)
373  } // if (AHRS)
374}
375
376

/* MPU9250 Basic Example Code
 by: Kris Winer
 date: April 1, 2014
  license: Beerware - Use this code however you'd like. If you
 find it useful  you can buy me a beer some time.
 Modified by Brent Wilkins July 19, 2016

  Demonstrate basic MPU-9250 functionality including parameterizing the register
  addresses, initializing the sensor, getting properly scaled accelerometer,
 gyroscope,  and magnetometer data out. Added display functions to allow display
 to on breadboard  monitor. Addition of 9 DoF sensor fusion using open source
 Madgwick and Mahony  filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini
 and the Teensy 3.1.

  SDA and SCL should have external pull-up resistors (to 3.3V).
 10k resistors  are on the EMSENSR-9250 breakout board.

 Hardware setup:
 MPU9250 Breakout  --------- Arduino
 VDD ---------------------- 3.3V
 VDDI ---------------------  3.3V
 SDA ----------------------- A4
 SCL ----------------------- A5
 GND  ---------------------- GND
 */

#include "quaternionFilters.h"
#include  "MPU9250.h"


#define AHRS true              // Set to false for basic  data read
#define SerialDebug true       // Set to true to get Serial output  for debugging
#define Information false      // Set to true to get imu info

//  Pin definitions
int intPin = 12;  // These can be changed, 2 and 3 are the Arduinos  ext int pins
int myLed  = 13;  // Set up pin 13 led for toggling

MPU9250  myIMU;

void setup()
{
  Wire.begin();
  // TWBR = 12;  // 400 kbit/sec  I2C speed
  Serial.begin(115200);

  // Set up the interrupt pin, its set  as active high, push-pull
  pinMode(intPin, INPUT);
  digitalWrite(intPin,  LOW);
  pinMode(myLed, OUTPUT);
  digitalWrite(myLed, HIGH);


  //  Read the WHO_AM_I register, this is a good test of communication
  byte c = myIMU.readByte(MPU9250_ADDRESS,  WHO_AM_I_MPU9250);
  Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c,  HEX);
  Serial.print(" I should be "); Serial.println(0x71, HEX);


  if (c == 0x71) // WHO_AM_I should always be 0x68
  {
    Serial.println("MPU9250  is online...");

    // Start by performing self test and reporting values
    myIMU.MPU9250SelfTest(myIMU.SelfTest);
    if(Information)
    {
    Serial.print("x-axis  self test: acceleration trim within : ");
    Serial.print(myIMU.SelfTest[0],1);  Serial.println("% of factory value");
    Serial.print("y-axis self test:  acceleration trim within : ");
    Serial.print(myIMU.SelfTest[1],1); Serial.println("%  of factory value");
    Serial.print("z-axis self test: acceleration trim within  : ");
    Serial.print(myIMU.SelfTest[2],1); Serial.println("% of factory value");
    Serial.print("x-axis self test: gyration trim within : ");
    Serial.print(myIMU.SelfTest[3],1);  Serial.println("% of factory value");
    Serial.print("y-axis self test:  gyration trim within : ");
    Serial.print(myIMU.SelfTest[4],1); Serial.println("%  of factory value");
    Serial.print("z-axis self test: gyration trim within  : ");
    Serial.print(myIMU.SelfTest[5],1); Serial.println("% of factory value");
    }
  
    // Calibrate gyro and accelerometers, load biases in bias registers
    myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);




    myIMU.initMPU9250();
    // Initialize device for active mode read of acclerometer,  gyroscope, and
    // temperature
    Serial.println("MPU9250 initialized  for active data mode....");

    // Read the WHO_AM_I register of the magnetometer,  this is a good test of
    // communication
    byte d = myIMU.readByte(AK8963_ADDRESS,  WHO_AM_I_AK8963);
    if(Information){
    Serial.print("AK8963 "); Serial.print("I  AM "); Serial.print(d, HEX);
    Serial.print(" I should be "); Serial.println(0x48,  HEX);
    }



    // Get magnetometer calibration from AK8963 ROM
    myIMU.initAK8963(myIMU.magCalibration);
    // Initialize device for active  mode read of magnetometer
    Serial.println("AK8963 initialized for active  data mode....");
    if (SerialDebug && Information)
    {
      Serial.println("Calibration  values: ");
      Serial.print("X-Axis sensitivity adjustment value ");
      Serial.println(myIMU.magCalibration[0], 2);
      Serial.print("Y-Axis  sensitivity adjustment value ");
      Serial.println(myIMU.magCalibration[1],  2);
      Serial.print("Z-Axis sensitivity adjustment value ");
      Serial.println(myIMU.magCalibration[2],  2);
    }



  } // if (c == 0x71)
  else
  {
    Serial.print("Could  not connect to MPU9250: 0x");
    Serial.println(c, HEX);
    while(1) ;  // Loop forever if communication doesn't happen
  }
}

void loop()
{
  // If intPin goes high, all data registers have new data
  // On interrupt,  check if data ready interrupt
  if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS)  & 0x01)
  {  
    myIMU.readAccelData(myIMU.accelCount);  // Read the x/y/z  adc values
    myIMU.getAres();

    // Now we'll calculate the accleration  value into actual g's
    // This depends on scale being set
    myIMU.ax  = (float)myIMU.accelCount[0]*myIMU.aRes; // - accelBias[0];
    myIMU.ay = (float)myIMU.accelCount[1]*myIMU.aRes;  // - accelBias[1];
    myIMU.az = (float)myIMU.accelCount[2]*myIMU.aRes; // -  accelBias[2];

    myIMU.readGyroData(myIMU.gyroCount);  // Read the x/y/z  adc values
    myIMU.getGres();

    // Calculate the gyro value into actual  degrees per second
    // This depends on scale being set
    myIMU.gx = (float)myIMU.gyroCount[0]*myIMU.gRes;
    myIMU.gy = (float)myIMU.gyroCount[1]*myIMU.gRes;
    myIMU.gz = (float)myIMU.gyroCount[2]*myIMU.gRes;

    myIMU.readMagData(myIMU.magCount);  // Read the x/y/z adc values
    myIMU.getMres();
    // User environmental x-axis correction in milliGauss, should be
    // automatically  calculated
    myIMU.magbias[0] = +470.;
    // User environmental x-axis  correction in milliGauss TODO axis??
    myIMU.magbias[1] = +120.;
    //  User environmental x-axis correction in milliGauss
    myIMU.magbias[2] = +125.;

    // Calculate the magnetometer values in milliGauss
    // Include factory  calibration per data sheet and user environmental
    // corrections
    //  Get actual magnetometer value, this depends on scale being set
    myIMU.mx =  (float)myIMU.magCount[0]*myIMU.mRes*myIMU.magCalibration[0] -
               myIMU.magbias[0];
    myIMU.my = (float)myIMU.magCount[1]*myIMU.mRes*myIMU.magCalibration[1] -
               myIMU.magbias[1];
    myIMU.mz = (float)myIMU.magCount[2]*myIMU.mRes*myIMU.magCalibration[2]  -
               myIMU.magbias[2];
  } // if (readByte(MPU9250_ADDRESS, INT_STATUS)  & 0x01)

  // Must be called before updating quaternions!
  myIMU.updateTime();

  // Sensors x (y)-axis of the accelerometer is aligned with the y (x)-axis of
  // the magnetometer; the magnetometer z-axis (+ down) is opposite to z-axis
  // (+ up) of accelerometer and gyro! We have to make some allowance for this
  // orientationmismatch in feeding the output to the quaternion filter. For the
  // MPU-9250, we have chosen a magnetic rotation that keeps the sensor forward
  // along the x-axis just like in the LSM9DS0 sensor. This rotation can be
  // modified to allow any convenient orientation convention. This is ok by
  // aircraft orientation standards! Pass gyro rate as rad/s
//  MadgwickQuaternionUpdate(ax,  ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f,  my,  mx, mz);
  MahonyQuaternionUpdate(myIMU.ax,  myIMU.ay, myIMU.az, myIMU.gx*DEG_TO_RAD,
                         myIMU.gy*DEG_TO_RAD,  myIMU.gz*DEG_TO_RAD, myIMU.my,
                         myIMU.mx, myIMU.mz, myIMU.deltat);

  if (!AHRS)
  {
    myIMU.delt_t = millis() - myIMU.count;
    if (myIMU.delt_t  > 500)
    {
      if(SerialDebug)
      {
        // Print acceleration  values in milligs!
        Serial.print("X-acceleration: "); Serial.print(1000*myIMU.ax);
        Serial.print(" mg ");
        Serial.print("Y-acceleration: "); Serial.print(1000*myIMU.ay);
        Serial.print(" mg ");
        Serial.print("Z-acceleration: "); Serial.print(1000*myIMU.az);
        Serial.println(" mg ");

        // Print gyro values in degree/sec
        Serial.print("X-gyro rate: "); Serial.print(myIMU.gx, 3);
        Serial.print("  degrees/sec ");
        Serial.print("Y-gyro rate: "); Serial.print(myIMU.gy,  3);
        Serial.print(" degrees/sec ");
        Serial.print("Z-gyro  rate: "); Serial.print(myIMU.gz, 3);
        Serial.println(" degrees/sec");

        // Print mag values in degree/sec
        Serial.print("X-mag field:  "); Serial.print(myIMU.mx);
        Serial.print(" mG ");
        Serial.print("Y-mag  field: "); Serial.print(myIMU.my);
        Serial.print(" mG ");
        Serial.print("Z-mag  field: "); Serial.print(myIMU.mz);
        Serial.println(" mG");

        myIMU.tempCount = myIMU.readTempData();  // Read the adc values
        //  Temperature in degrees Centigrade
        myIMU.temperature = ((float) myIMU.tempCount)  / 333.87 + 21.0;
        // Print temperature in degrees Centigrade
        Serial.print("Temperature  is ");  Serial.print(myIMU.temperature, 1);
        Serial.println(" degrees  C");
        
      }


      myIMU.count = millis();
      digitalWrite(myLed,  !digitalRead(myLed));  // toggle led
    } // if (myIMU.delt_t > 500)
  }  // if (!AHRS)
  else
  {
    // Serial print and/or display at 0.5 s rate  independent of data rates
    myIMU.delt_t = millis() - myIMU.count;

    // update LCD once per half-second independent of read rate
    if (myIMU.delt_t  > 500)
    {
      if(SerialDebug)
      {
      
        // time
        Serial.print (myIMU.delt_t);


        
        Serial.print("\	");
        //Serial.print("ax = "); 
        Serial.print(round((int)1000*myIMU.ax));
        Serial.print ("\	");
        //Serial.print(" ay = "); 
        Serial.print(round((int)1000*myIMU.ay  ));
        Serial.print ("\	");
        //Serial.print(" az = "); 
        Serial.print(round((int)1000*myIMU.az));
        Serial.print ("\	");
        //Serial.println(" mg");

        //Serial.print("gx = "); 
        Serial.print( round(myIMU.gx));  //leaves in degrees per sec
        //*  3.14159/180));
        //, 2);
        Serial.print ("\	");
        //Serial.print("  gy = "); 
        Serial.print(round( myIMU.gy)); 
        //* 3.14159/180));
        //, 2);
        Serial.print ("\	");
        //Serial.print("  gz = "); 
        Serial.print( round(myIMU.gz)); 
        //* 3.14159/180));
        //, 2);
        Serial.print ("\	");
        //Serial.println("  deg/s");

        //Serial.print("mx = "); 
        Serial.print( round((int)myIMU.mx)  );
        Serial.print ("\	");
        //Serial.print(" my = "); 
        Serial.print( round((int)myIMU.my) );
        Serial.print ("\	");
        //Serial.print(" mz = "); 
        Serial.print( round((int)myIMU.mz)  );
        //Serial.print("/t");

        /**  Quarternions */
        /*
        Serial.print(*getQ());
        Serial.print("\	");
        Serial.print(*(getQ()  + 1));
        Serial.print("\	");
        Serial.print(*(getQ() + 2));
        Serial.print("\	");
        Serial.println(*(getQ() + 3));
        Serial.println("");
        //Serial.println(" mG");
*/
        Serial.println("");

        /*
        Serial.print("q0 = "); Serial.print(*getQ());
        Serial.print("  qx = "); Serial.print(*(getQ() + 1));
        Serial.print(" qy = "); Serial.print(*(getQ()  + 2));
        Serial.print(" qz = "); Serial.println(*(getQ() + 3));
        */
  
      }
   
      

// Define output variables from updated quaternion---these  are Tait-Bryan
// angles, commonly used in aircraft orientation. In this coordinate  system,
// the positive z-axis is down toward Earth. Yaw is the angle between  Sensor
// x-axis and Earth magnetic North (or true North if corrected for local
//  declination, looking down on the sensor positive yaw is counterclockwise.
//  Pitch is angle between sensor x-axis and Earth ground plane, toward the
// Earth  is positive, up toward the sky is negative. Roll is angle between
// sensor y-axis  and Earth ground plane, y-axis up is positive roll. These
// arise from the definition  of the homogeneous rotation matrix constructed
// from quaternions. Tait-Bryan  angles as well as Euler angles are
// non-commutative; that is, the get the correct  orientation the rotations
// must be applied in the correct order which for this  configuration is yaw,
// pitch, and then roll.
// For more see
// http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
//  which has additional links.
      myIMU.yaw   = atan2(2.0f * (*(getQ()+1) * *(getQ()+2)  + *getQ() *
                    *(getQ()+3)), *getQ() * *getQ() + *(getQ()+1)  * *(getQ()+1)
                    - *(getQ()+2) * *(getQ()+2) - *(getQ()+3) *  *(getQ()+3));
      myIMU.pitch = -asin(2.0f * (*(getQ()+1) * *(getQ()+3) - *getQ()  *
                    *(getQ()+2)));
      myIMU.roll  = atan2(2.0f * (*getQ()  * *(getQ()+1) + *(getQ()+2) *
                    *(getQ()+3)), *getQ() * *getQ()  - *(getQ()+1) * *(getQ()+1)
                    - *(getQ()+2) * *(getQ()+2) +  *(getQ()+3) * *(getQ()+3));
      myIMU.pitch *= RAD_TO_DEG;
      myIMU.yaw   *= RAD_TO_DEG;
      // Declination of SparkFun Electronics (4005'26.6"N  10511'05.9"W) is
      //    8 30' E   0 21' (or 8.5) on 2016-07-19
      //  - http://www.ngdc.noaa.gov/geomag-web/#declination
      // Declination of XYZ  place (3739'45.9"N 12150'33.3"W)
      //(Pleasanton, California) 13.32 E   0.34  on 2018-08-29, changing by 0.10W per year
      //myIMU.yaw   -= 8.5;
      myIMU.yaw  -= 13.32;
      myIMU.roll  *= RAD_TO_DEG;

      if(SerialDebug)
      {
        /*
        Serial.print("Yaw, Pitch, Roll: ");
        Serial.print(myIMU.yaw,  2);
        Serial.print(", ");
        Serial.print(myIMU.pitch, 2);
        Serial.print(", ");
        Serial.println(myIMU.roll, 2);
*/
/*
        Serial.print("rate = ");
        Serial.print((float)myIMU.sumCount/myIMU.sum,  2);
        Serial.println(" Hz");
*/
        
      }

      myIMU.count  = millis();
      myIMU.sumCount = 0;
      myIMU.sum = 0;
    } // if  (myIMU.delt_t > 500)
  } // if (AHRS)
}

Arduino Script

c_cpp

Arduino script. Courtesy of Kris Winer. Some of it is changed.

1/* MPU9250 Basic Example Code
2 by: Kris Winer
3 date: April 1, 2014
4
5  license: Beerware - Use this code however you'd like. If you
6 find it useful
7  you can buy me a beer some time.
8 Modified by Brent Wilkins July 19, 2016
9
10
11  Demonstrate basic MPU-9250 functionality including parameterizing the register
12
13  addresses, initializing the sensor, getting properly scaled accelerometer,
14 gyroscope,
15  and magnetometer data out. Added display functions to allow display
16 to on breadboard
17  monitor. Addition of 9 DoF sensor fusion using open source
18 Madgwick and Mahony
19  filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini
20 and the Teensy 3.1.
21
22
23  SDA and SCL should have external pull-up resistors (to 3.3V).
24 10k resistors
25  are on the EMSENSR-9250 breakout board.
26
27 Hardware setup:
28 MPU9250 Breakout
29  --------- Arduino
30 VDD ---------------------- 3.3V
31 VDDI ---------------------
32  3.3V
33 SDA ----------------------- A4
34 SCL ----------------------- A5
35 GND
36  ---------------------- GND
37 */
38
39#include "quaternionFilters.h"
40#include
41  "MPU9250.h"
42
43
44#define AHRS true              // Set to false for basic
45  data read
46#define SerialDebug true       // Set to true to get Serial output
47  for debugging
48#define Information false      // Set to true to get imu info
49
50//
51  Pin definitions
52int intPin = 12;  // These can be changed, 2 and 3 are the Arduinos
53  ext int pins
54int myLed  = 13;  // Set up pin 13 led for toggling
55
56MPU9250
57  myIMU;
58
59void setup()
60{
61  Wire.begin();
62  // TWBR = 12;  // 400 kbit/sec
63  I2C speed
64  Serial.begin(115200);
65
66  // Set up the interrupt pin, its set
67  as active high, push-pull
68  pinMode(intPin, INPUT);
69  digitalWrite(intPin,
70  LOW);
71  pinMode(myLed, OUTPUT);
72  digitalWrite(myLed, HIGH);
73
74
75  //
76  Read the WHO_AM_I register, this is a good test of communication
77  byte c = myIMU.readByte(MPU9250_ADDRESS,
78  WHO_AM_I_MPU9250);
79  Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c,
80  HEX);
81  Serial.print(" I should be "); Serial.println(0x71, HEX);
82
83
84
85  if (c == 0x71) // WHO_AM_I should always be 0x68
86  {
87    Serial.println("MPU9250
88  is online...");
89
90    // Start by performing self test and reporting values
91
92    myIMU.MPU9250SelfTest(myIMU.SelfTest);
93    if(Information)
94    {
95    Serial.print("x-axis
96  self test: acceleration trim within : ");
97    Serial.print(myIMU.SelfTest[0],1);
98  Serial.println("% of factory value");
99    Serial.print("y-axis self test:
100  acceleration trim within : ");
101    Serial.print(myIMU.SelfTest[1],1); Serial.println("%
102  of factory value");
103    Serial.print("z-axis self test: acceleration trim within
104  : ");
105    Serial.print(myIMU.SelfTest[2],1); Serial.println("% of factory value");
106
107    Serial.print("x-axis self test: gyration trim within : ");
108    Serial.print(myIMU.SelfTest[3],1);
109  Serial.println("% of factory value");
110    Serial.print("y-axis self test:
111  gyration trim within : ");
112    Serial.print(myIMU.SelfTest[4],1); Serial.println("%
113  of factory value");
114    Serial.print("z-axis self test: gyration trim within
115  : ");
116    Serial.print(myIMU.SelfTest[5],1); Serial.println("% of factory value");
117
118    }
119  
120    // Calibrate gyro and accelerometers, load biases in bias registers
121
122    myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);
123
124
125
126
127
128    myIMU.initMPU9250();
129    // Initialize device for active mode read of acclerometer,
130  gyroscope, and
131    // temperature
132    Serial.println("MPU9250 initialized
133  for active data mode....");
134
135    // Read the WHO_AM_I register of the magnetometer,
136  this is a good test of
137    // communication
138    byte d = myIMU.readByte(AK8963_ADDRESS,
139  WHO_AM_I_AK8963);
140    if(Information){
141    Serial.print("AK8963 "); Serial.print("I
142  AM "); Serial.print(d, HEX);
143    Serial.print(" I should be "); Serial.println(0x48,
144  HEX);
145    }
146
147
148
149    // Get magnetometer calibration from AK8963 ROM
150
151    myIMU.initAK8963(myIMU.magCalibration);
152    // Initialize device for active
153  mode read of magnetometer
154    Serial.println("AK8963 initialized for active
155  data mode....");
156    if (SerialDebug && Information)
157    {
158      Serial.println("Calibration
159  values: ");
160      Serial.print("X-Axis sensitivity adjustment value ");
161
162      Serial.println(myIMU.magCalibration[0], 2);
163      Serial.print("Y-Axis
164  sensitivity adjustment value ");
165      Serial.println(myIMU.magCalibration[1],
166  2);
167      Serial.print("Z-Axis sensitivity adjustment value ");
168      Serial.println(myIMU.magCalibration[2],
169  2);
170    }
171
172
173
174  } // if (c == 0x71)
175  else
176  {
177    Serial.print("Could
178  not connect to MPU9250: 0x");
179    Serial.println(c, HEX);
180    while(1) ;
181  // Loop forever if communication doesn't happen
182  }
183}
184
185void loop()
186{
187
188  // If intPin goes high, all data registers have new data
189  // On interrupt,
190  check if data ready interrupt
191  if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS)
192  & 0x01)
193  {  
194    myIMU.readAccelData(myIMU.accelCount);  // Read the x/y/z
195  adc values
196    myIMU.getAres();
197
198    // Now we'll calculate the accleration
199  value into actual g's
200    // This depends on scale being set
201    myIMU.ax
202  = (float)myIMU.accelCount[0]*myIMU.aRes; // - accelBias[0];
203    myIMU.ay = (float)myIMU.accelCount[1]*myIMU.aRes;
204  // - accelBias[1];
205    myIMU.az = (float)myIMU.accelCount[2]*myIMU.aRes; // -
206  accelBias[2];
207
208    myIMU.readGyroData(myIMU.gyroCount);  // Read the x/y/z
209  adc values
210    myIMU.getGres();
211
212    // Calculate the gyro value into actual
213  degrees per second
214    // This depends on scale being set
215    myIMU.gx = (float)myIMU.gyroCount[0]*myIMU.gRes;
216
217    myIMU.gy = (float)myIMU.gyroCount[1]*myIMU.gRes;
218    myIMU.gz = (float)myIMU.gyroCount[2]*myIMU.gRes;
219
220
221    myIMU.readMagData(myIMU.magCount);  // Read the x/y/z adc values
222    myIMU.getMres();
223
224    // User environmental x-axis correction in milliGauss, should be
225    // automatically
226  calculated
227    myIMU.magbias[0] = +470.;
228    // User environmental x-axis
229  correction in milliGauss TODO axis??
230    myIMU.magbias[1] = +120.;
231    //
232  User environmental x-axis correction in milliGauss
233    myIMU.magbias[2] = +125.;
234
235
236    // Calculate the magnetometer values in milliGauss
237    // Include factory
238  calibration per data sheet and user environmental
239    // corrections
240    //
241  Get actual magnetometer value, this depends on scale being set
242    myIMU.mx =
243  (float)myIMU.magCount[0]*myIMU.mRes*myIMU.magCalibration[0] -
244               myIMU.magbias[0];
245
246    myIMU.my = (float)myIMU.magCount[1]*myIMU.mRes*myIMU.magCalibration[1] -
247
248               myIMU.magbias[1];
249    myIMU.mz = (float)myIMU.magCount[2]*myIMU.mRes*myIMU.magCalibration[2]
250  -
251               myIMU.magbias[2];
252  } // if (readByte(MPU9250_ADDRESS, INT_STATUS)
253  & 0x01)
254
255  // Must be called before updating quaternions!
256  myIMU.updateTime();
257
258
259  // Sensors x (y)-axis of the accelerometer is aligned with the y (x)-axis of
260
261  // the magnetometer; the magnetometer z-axis (+ down) is opposite to z-axis
262
263  // (+ up) of accelerometer and gyro! We have to make some allowance for this
264
265  // orientationmismatch in feeding the output to the quaternion filter. For the
266
267  // MPU-9250, we have chosen a magnetic rotation that keeps the sensor forward
268
269  // along the x-axis just like in the LSM9DS0 sensor. This rotation can be
270
271  // modified to allow any convenient orientation convention. This is ok by
272
273  // aircraft orientation standards! Pass gyro rate as rad/s
274//  MadgwickQuaternionUpdate(ax,
275  ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f,  my,  mx, mz);
276  MahonyQuaternionUpdate(myIMU.ax,
277  myIMU.ay, myIMU.az, myIMU.gx*DEG_TO_RAD,
278                         myIMU.gy*DEG_TO_RAD,
279  myIMU.gz*DEG_TO_RAD, myIMU.my,
280                         myIMU.mx, myIMU.mz, myIMU.deltat);
281
282
283  if (!AHRS)
284  {
285    myIMU.delt_t = millis() - myIMU.count;
286    if (myIMU.delt_t
287  > 500)
288    {
289      if(SerialDebug)
290      {
291        // Print acceleration
292  values in milligs!
293        Serial.print("X-acceleration: "); Serial.print(1000*myIMU.ax);
294
295        Serial.print(" mg ");
296        Serial.print("Y-acceleration: "); Serial.print(1000*myIMU.ay);
297
298        Serial.print(" mg ");
299        Serial.print("Z-acceleration: "); Serial.print(1000*myIMU.az);
300
301        Serial.println(" mg ");
302
303        // Print gyro values in degree/sec
304
305        Serial.print("X-gyro rate: "); Serial.print(myIMU.gx, 3);
306        Serial.print("
307  degrees/sec ");
308        Serial.print("Y-gyro rate: "); Serial.print(myIMU.gy,
309  3);
310        Serial.print(" degrees/sec ");
311        Serial.print("Z-gyro
312  rate: "); Serial.print(myIMU.gz, 3);
313        Serial.println(" degrees/sec");
314
315
316        // Print mag values in degree/sec
317        Serial.print("X-mag field:
318  "); Serial.print(myIMU.mx);
319        Serial.print(" mG ");
320        Serial.print("Y-mag
321  field: "); Serial.print(myIMU.my);
322        Serial.print(" mG ");
323        Serial.print("Z-mag
324  field: "); Serial.print(myIMU.mz);
325        Serial.println(" mG");
326
327
328        myIMU.tempCount = myIMU.readTempData();  // Read the adc values
329        //
330  Temperature in degrees Centigrade
331        myIMU.temperature = ((float) myIMU.tempCount)
332  / 333.87 + 21.0;
333        // Print temperature in degrees Centigrade
334        Serial.print("Temperature
335  is ");  Serial.print(myIMU.temperature, 1);
336        Serial.println(" degrees
337  C");
338        
339      }
340
341
342      myIMU.count = millis();
343      digitalWrite(myLed,
344  !digitalRead(myLed));  // toggle led
345    } // if (myIMU.delt_t > 500)
346  }
347  // if (!AHRS)
348  else
349  {
350    // Serial print and/or display at 0.5 s rate
351  independent of data rates
352    myIMU.delt_t = millis() - myIMU.count;
353
354
355    // update LCD once per half-second independent of read rate
356    if (myIMU.delt_t
357  > 500)
358    {
359      if(SerialDebug)
360      {
361      
362        // time
363
364        Serial.print (myIMU.delt_t);
365
366
367        
368        Serial.print("\	");
369
370        //Serial.print("ax = "); 
371        Serial.print(round((int)1000*myIMU.ax));
372
373        Serial.print ("\	");
374        //Serial.print(" ay = "); 
375        Serial.print(round((int)1000*myIMU.ay
376  ));
377        Serial.print ("\	");
378        //Serial.print(" az = "); 
379
380        Serial.print(round((int)1000*myIMU.az));
381        Serial.print ("\	");
382
383        //Serial.println(" mg");
384
385        //Serial.print("gx = "); 
386
387        Serial.print( round(myIMU.gx));  //leaves in degrees per sec
388        //*
389  3.14159/180));
390        //, 2);
391        Serial.print ("\	");
392        //Serial.print("
393  gy = "); 
394        Serial.print(round( myIMU.gy)); 
395        //* 3.14159/180));
396
397        //, 2);
398        Serial.print ("\	");
399        //Serial.print("
400  gz = "); 
401        Serial.print( round(myIMU.gz)); 
402        //* 3.14159/180));
403
404        //, 2);
405        Serial.print ("\	");
406        //Serial.println("
407  deg/s");
408
409        //Serial.print("mx = "); 
410        Serial.print( round((int)myIMU.mx)
411  );
412        Serial.print ("\	");
413        //Serial.print(" my = "); 
414
415        Serial.print( round((int)myIMU.my) );
416        Serial.print ("\	");
417
418        //Serial.print(" mz = "); 
419        Serial.print( round((int)myIMU.mz)
420  );
421        //Serial.print("/t");
422
423        /**  Quarternions */
424        /*
425
426        Serial.print(*getQ());
427        Serial.print("\	");
428        Serial.print(*(getQ()
429  + 1));
430        Serial.print("\	");
431        Serial.print(*(getQ() + 2));
432
433        Serial.print("\	");
434        Serial.println(*(getQ() + 3));
435        Serial.println("");
436
437        //Serial.println(" mG");
438*/
439        Serial.println("");
440
441
442        /*
443        Serial.print("q0 = "); Serial.print(*getQ());
444        Serial.print("
445  qx = "); Serial.print(*(getQ() + 1));
446        Serial.print(" qy = "); Serial.print(*(getQ()
447  + 2));
448        Serial.print(" qz = "); Serial.println(*(getQ() + 3));
449        */
450
451  
452      }
453   
454      
455
456// Define output variables from updated quaternion---these
457  are Tait-Bryan
458// angles, commonly used in aircraft orientation. In this coordinate
459  system,
460// the positive z-axis is down toward Earth. Yaw is the angle between
461  Sensor
462// x-axis and Earth magnetic North (or true North if corrected for local
463//
464  declination, looking down on the sensor positive yaw is counterclockwise.
465//
466  Pitch is angle between sensor x-axis and Earth ground plane, toward the
467// Earth
468  is positive, up toward the sky is negative. Roll is angle between
469// sensor y-axis
470  and Earth ground plane, y-axis up is positive roll. These
471// arise from the definition
472  of the homogeneous rotation matrix constructed
473// from quaternions. Tait-Bryan
474  angles as well as Euler angles are
475// non-commutative; that is, the get the correct
476  orientation the rotations
477// must be applied in the correct order which for this
478  configuration is yaw,
479// pitch, and then roll.
480// For more see
481// http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
482//
483  which has additional links.
484      myIMU.yaw   = atan2(2.0f * (*(getQ()+1) * *(getQ()+2)
485  + *getQ() *
486                    *(getQ()+3)), *getQ() * *getQ() + *(getQ()+1)
487  * *(getQ()+1)
488                    - *(getQ()+2) * *(getQ()+2) - *(getQ()+3) *
489  *(getQ()+3));
490      myIMU.pitch = -asin(2.0f * (*(getQ()+1) * *(getQ()+3) - *getQ()
491  *
492                    *(getQ()+2)));
493      myIMU.roll  = atan2(2.0f * (*getQ()
494  * *(getQ()+1) + *(getQ()+2) *
495                    *(getQ()+3)), *getQ() * *getQ()
496  - *(getQ()+1) * *(getQ()+1)
497                    - *(getQ()+2) * *(getQ()+2) +
498  *(getQ()+3) * *(getQ()+3));
499      myIMU.pitch *= RAD_TO_DEG;
500      myIMU.yaw
501   *= RAD_TO_DEG;
502      // Declination of SparkFun Electronics (4005'26.6"N
503  10511'05.9"W) is
504      //    8 30' E   0 21' (or 8.5) on 2016-07-19
505      //
506  - http://www.ngdc.noaa.gov/geomag-web/#declination
507      // Declination of XYZ
508  place (3739'45.9"N 12150'33.3"W)
509      //(Pleasanton, California) 13.32 E   0.34
510  on 2018-08-29, changing by 0.10W per year
511      //myIMU.yaw   -= 8.5;
512      myIMU.yaw
513  -= 13.32;
514      myIMU.roll  *= RAD_TO_DEG;
515
516      if(SerialDebug)
517      {
518
519        /*
520        Serial.print("Yaw, Pitch, Roll: ");
521        Serial.print(myIMU.yaw,
522  2);
523        Serial.print(", ");
524        Serial.print(myIMU.pitch, 2);
525
526        Serial.print(", ");
527        Serial.println(myIMU.roll, 2);
528*/
529/*
530
531        Serial.print("rate = ");
532        Serial.print((float)myIMU.sumCount/myIMU.sum,
533  2);
534        Serial.println(" Hz");
535*/
536        
537      }
538
539      myIMU.count
540  = millis();
541      myIMU.sumCount = 0;
542      myIMU.sum = 0;
543    } // if
544  (myIMU.delt_t > 500)
545  } // if (AHRS)
546}
547
548

/* MPU9250 Basic Example Code
 by: Kris Winer
 date: April 1, 2014

  license: Beerware - Use this code however you'd like. If you
 find it useful
  you can buy me a beer some time.
 Modified by Brent Wilkins July 19, 2016


  Demonstrate basic MPU-9250 functionality including parameterizing the register

  addresses, initializing the sensor, getting properly scaled accelerometer,
 gyroscope,
  and magnetometer data out. Added display functions to allow display
 to on breadboard
  monitor. Addition of 9 DoF sensor fusion using open source
 Madgwick and Mahony
  filter algorithms. Sketch runs on the 3.3 V 8 MHz Pro Mini
 and the Teensy 3.1.


  SDA and SCL should have external pull-up resistors (to 3.3V).
 10k resistors
  are on the EMSENSR-9250 breakout board.

 Hardware setup:
 MPU9250 Breakout
  --------- Arduino
 VDD ---------------------- 3.3V
 VDDI ---------------------
  3.3V
 SDA ----------------------- A4
 SCL ----------------------- A5
 GND
  ---------------------- GND
 */

#include "quaternionFilters.h"
#include
  "MPU9250.h"


#define AHRS true              // Set to false for basic
  data read
#define SerialDebug true       // Set to true to get Serial output
  for debugging
#define Information false      // Set to true to get imu info

//
  Pin definitions
int intPin = 12;  // These can be changed, 2 and 3 are the Arduinos
  ext int pins
int myLed  = 13;  // Set up pin 13 led for toggling

MPU9250
  myIMU;

void setup()
{
  Wire.begin();
  // TWBR = 12;  // 400 kbit/sec
  I2C speed
  Serial.begin(115200);

  // Set up the interrupt pin, its set
  as active high, push-pull
  pinMode(intPin, INPUT);
  digitalWrite(intPin,
  LOW);
  pinMode(myLed, OUTPUT);
  digitalWrite(myLed, HIGH);


  //
  Read the WHO_AM_I register, this is a good test of communication
  byte c = myIMU.readByte(MPU9250_ADDRESS,
  WHO_AM_I_MPU9250);
  Serial.print("MPU9250 "); Serial.print("I AM "); Serial.print(c,
  HEX);
  Serial.print(" I should be "); Serial.println(0x71, HEX);



  if (c == 0x71) // WHO_AM_I should always be 0x68
  {
    Serial.println("MPU9250
  is online...");

    // Start by performing self test and reporting values

    myIMU.MPU9250SelfTest(myIMU.SelfTest);
    if(Information)
    {
    Serial.print("x-axis
  self test: acceleration trim within : ");
    Serial.print(myIMU.SelfTest[0],1);
  Serial.println("% of factory value");
    Serial.print("y-axis self test:
  acceleration trim within : ");
    Serial.print(myIMU.SelfTest[1],1); Serial.println("%
  of factory value");
    Serial.print("z-axis self test: acceleration trim within
  : ");
    Serial.print(myIMU.SelfTest[2],1); Serial.println("% of factory value");

    Serial.print("x-axis self test: gyration trim within : ");
    Serial.print(myIMU.SelfTest[3],1);
  Serial.println("% of factory value");
    Serial.print("y-axis self test:
  gyration trim within : ");
    Serial.print(myIMU.SelfTest[4],1); Serial.println("%
  of factory value");
    Serial.print("z-axis self test: gyration trim within
  : ");
    Serial.print(myIMU.SelfTest[5],1); Serial.println("% of factory value");

    }
  
    // Calibrate gyro and accelerometers, load biases in bias registers

    myIMU.calibrateMPU9250(myIMU.gyroBias, myIMU.accelBias);





    myIMU.initMPU9250();
    // Initialize device for active mode read of acclerometer,
  gyroscope, and
    // temperature
    Serial.println("MPU9250 initialized
  for active data mode....");

    // Read the WHO_AM_I register of the magnetometer,
  this is a good test of
    // communication
    byte d = myIMU.readByte(AK8963_ADDRESS,
  WHO_AM_I_AK8963);
    if(Information){
    Serial.print("AK8963 "); Serial.print("I
  AM "); Serial.print(d, HEX);
    Serial.print(" I should be "); Serial.println(0x48,
  HEX);
    }



    // Get magnetometer calibration from AK8963 ROM

    myIMU.initAK8963(myIMU.magCalibration);
    // Initialize device for active
  mode read of magnetometer
    Serial.println("AK8963 initialized for active
  data mode....");
    if (SerialDebug && Information)
    {
      Serial.println("Calibration
  values: ");
      Serial.print("X-Axis sensitivity adjustment value ");

      Serial.println(myIMU.magCalibration[0], 2);
      Serial.print("Y-Axis
  sensitivity adjustment value ");
      Serial.println(myIMU.magCalibration[1],
  2);
      Serial.print("Z-Axis sensitivity adjustment value ");
      Serial.println(myIMU.magCalibration[2],
  2);
    }



  } // if (c == 0x71)
  else
  {
    Serial.print("Could
  not connect to MPU9250: 0x");
    Serial.println(c, HEX);
    while(1) ;
  // Loop forever if communication doesn't happen
  }
}

void loop()
{

  // If intPin goes high, all data registers have new data
  // On interrupt,
  check if data ready interrupt
  if (myIMU.readByte(MPU9250_ADDRESS, INT_STATUS)
  & 0x01)
  {  
    myIMU.readAccelData(myIMU.accelCount);  // Read the x/y/z
  adc values
    myIMU.getAres();

    // Now we'll calculate the accleration
  value into actual g's
    // This depends on scale being set
    myIMU.ax
  = (float)myIMU.accelCount[0]*myIMU.aRes; // - accelBias[0];
    myIMU.ay = (float)myIMU.accelCount[1]*myIMU.aRes;
  // - accelBias[1];
    myIMU.az = (float)myIMU.accelCount[2]*myIMU.aRes; // -
  accelBias[2];

    myIMU.readGyroData(myIMU.gyroCount);  // Read the x/y/z
  adc values
    myIMU.getGres();

    // Calculate the gyro value into actual
  degrees per second
    // This depends on scale being set
    myIMU.gx = (float)myIMU.gyroCount[0]*myIMU.gRes;

    myIMU.gy = (float)myIMU.gyroCount[1]*myIMU.gRes;
    myIMU.gz = (float)myIMU.gyroCount[2]*myIMU.gRes;


    myIMU.readMagData(myIMU.magCount);  // Read the x/y/z adc values
    myIMU.getMres();

    // User environmental x-axis correction in milliGauss, should be
    // automatically
  calculated
    myIMU.magbias[0] = +470.;
    // User environmental x-axis
  correction in milliGauss TODO axis??
    myIMU.magbias[1] = +120.;
    //
  User environmental x-axis correction in milliGauss
    myIMU.magbias[2] = +125.;


    // Calculate the magnetometer values in milliGauss
    // Include factory
  calibration per data sheet and user environmental
    // corrections
    //
  Get actual magnetometer value, this depends on scale being set
    myIMU.mx =
  (float)myIMU.magCount[0]*myIMU.mRes*myIMU.magCalibration[0] -
               myIMU.magbias[0];

    myIMU.my = (float)myIMU.magCount[1]*myIMU.mRes*myIMU.magCalibration[1] -

               myIMU.magbias[1];
    myIMU.mz = (float)myIMU.magCount[2]*myIMU.mRes*myIMU.magCalibration[2]
  -
               myIMU.magbias[2];
  } // if (readByte(MPU9250_ADDRESS, INT_STATUS)
  & 0x01)

  // Must be called before updating quaternions!
  myIMU.updateTime();


  // Sensors x (y)-axis of the accelerometer is aligned with the y (x)-axis of

  // the magnetometer; the magnetometer z-axis (+ down) is opposite to z-axis

  // (+ up) of accelerometer and gyro! We have to make some allowance for this

  // orientationmismatch in feeding the output to the quaternion filter. For the

  // MPU-9250, we have chosen a magnetic rotation that keeps the sensor forward

  // along the x-axis just like in the LSM9DS0 sensor. This rotation can be

  // modified to allow any convenient orientation convention. This is ok by

  // aircraft orientation standards! Pass gyro rate as rad/s
//  MadgwickQuaternionUpdate(ax,
  ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f,  my,  mx, mz);
  MahonyQuaternionUpdate(myIMU.ax,
  myIMU.ay, myIMU.az, myIMU.gx*DEG_TO_RAD,
                         myIMU.gy*DEG_TO_RAD,
  myIMU.gz*DEG_TO_RAD, myIMU.my,
                         myIMU.mx, myIMU.mz, myIMU.deltat);


  if (!AHRS)
  {
    myIMU.delt_t = millis() - myIMU.count;
    if (myIMU.delt_t
  > 500)
    {
      if(SerialDebug)
      {
        // Print acceleration
  values in milligs!
        Serial.print("X-acceleration: "); Serial.print(1000*myIMU.ax);

        Serial.print(" mg ");
        Serial.print("Y-acceleration: "); Serial.print(1000*myIMU.ay);

        Serial.print(" mg ");
        Serial.print("Z-acceleration: "); Serial.print(1000*myIMU.az);

        Serial.println(" mg ");

        // Print gyro values in degree/sec

        Serial.print("X-gyro rate: "); Serial.print(myIMU.gx, 3);
        Serial.print("
  degrees/sec ");
        Serial.print("Y-gyro rate: "); Serial.print(myIMU.gy,
  3);
        Serial.print(" degrees/sec ");
        Serial.print("Z-gyro
  rate: "); Serial.print(myIMU.gz, 3);
        Serial.println(" degrees/sec");


        // Print mag values in degree/sec
        Serial.print("X-mag field:
  "); Serial.print(myIMU.mx);
        Serial.print(" mG ");
        Serial.print("Y-mag
  field: "); Serial.print(myIMU.my);
        Serial.print(" mG ");
        Serial.print("Z-mag
  field: "); Serial.print(myIMU.mz);
        Serial.println(" mG");


        myIMU.tempCount = myIMU.readTempData();  // Read the adc values
        //
  Temperature in degrees Centigrade
        myIMU.temperature = ((float) myIMU.tempCount)
  / 333.87 + 21.0;
        // Print temperature in degrees Centigrade
        Serial.print("Temperature
  is ");  Serial.print(myIMU.temperature, 1);
        Serial.println(" degrees
  C");
        
      }


      myIMU.count = millis();
      digitalWrite(myLed,
  !digitalRead(myLed));  // toggle led
    } // if (myIMU.delt_t > 500)
  }
  // if (!AHRS)
  else
  {
    // Serial print and/or display at 0.5 s rate
  independent of data rates
    myIMU.delt_t = millis() - myIMU.count;


    // update LCD once per half-second independent of read rate
    if (myIMU.delt_t
  > 500)
    {
      if(SerialDebug)
      {
      
        // time

        Serial.print (myIMU.delt_t);


        
        Serial.print("\	");

        //Serial.print("ax = "); 
        Serial.print(round((int)1000*myIMU.ax));

        Serial.print ("\	");
        //Serial.print(" ay = "); 
        Serial.print(round((int)1000*myIMU.ay
  ));
        Serial.print ("\	");
        //Serial.print(" az = "); 

        Serial.print(round((int)1000*myIMU.az));
        Serial.print ("\	");

        //Serial.println(" mg");

        //Serial.print("gx = "); 

        Serial.print( round(myIMU.gx));  //leaves in degrees per sec
        //*
  3.14159/180));
        //, 2);
        Serial.print ("\	");
        //Serial.print("
  gy = "); 
        Serial.print(round( myIMU.gy)); 
        //* 3.14159/180));

        //, 2);
        Serial.print ("\	");
        //Serial.print("
  gz = "); 
        Serial.print( round(myIMU.gz)); 
        //* 3.14159/180));

        //, 2);
        Serial.print ("\	");
        //Serial.println("
  deg/s");

        //Serial.print("mx = "); 
        Serial.print( round((int)myIMU.mx)
  );
        Serial.print ("\	");
        //Serial.print(" my = "); 

        Serial.print( round((int)myIMU.my) );
        Serial.print ("\	");

        //Serial.print(" mz = "); 
        Serial.print( round((int)myIMU.mz)
  );
        //Serial.print("/t");

        /**  Quarternions */
        /*

        Serial.print(*getQ());
        Serial.print("\	");
        Serial.print(*(getQ()
  + 1));
        Serial.print("\	");
        Serial.print(*(getQ() + 2));

        Serial.print("\	");
        Serial.println(*(getQ() + 3));
        Serial.println("");

        //Serial.println(" mG");
*/
        Serial.println("");


        /*
        Serial.print("q0 = "); Serial.print(*getQ());
        Serial.print("
  qx = "); Serial.print(*(getQ() + 1));
        Serial.print(" qy = "); Serial.print(*(getQ()
  + 2));
        Serial.print(" qz = "); Serial.println(*(getQ() + 3));
        */

  
      }
   
      

// Define output variables from updated quaternion---these
  are Tait-Bryan
// angles, commonly used in aircraft orientation. In this coordinate
  system,
// the positive z-axis is down toward Earth. Yaw is the angle between
  Sensor
// x-axis and Earth magnetic North (or true North if corrected for local
//
  declination, looking down on the sensor positive yaw is counterclockwise.
//
  Pitch is angle between sensor x-axis and Earth ground plane, toward the
// Earth
  is positive, up toward the sky is negative. Roll is angle between
// sensor y-axis
  and Earth ground plane, y-axis up is positive roll. These
// arise from the definition
  of the homogeneous rotation matrix constructed
// from quaternions. Tait-Bryan
  angles as well as Euler angles are
// non-commutative; that is, the get the correct
  orientation the rotations
// must be applied in the correct order which for this
  configuration is yaw,
// pitch, and then roll.
// For more see
// http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
//
  which has additional links.
      myIMU.yaw   = atan2(2.0f * (*(getQ()+1) * *(getQ()+2)
  + *getQ() *
                    *(getQ()+3)), *getQ() * *getQ() + *(getQ()+1)
  * *(getQ()+1)
                    - *(getQ()+2) * *(getQ()+2) - *(getQ()+3) *
  *(getQ()+3));
      myIMU.pitch = -asin(2.0f * (*(getQ()+1) * *(getQ()+3) - *getQ()
  *
                    *(getQ()+2)));
      myIMU.roll  = atan2(2.0f * (*getQ()
  * *(getQ()+1) + *(getQ()+2) *
                    *(getQ()+3)), *getQ() * *getQ()
  - *(getQ()+1) * *(getQ()+1)
                    - *(getQ()+2) * *(getQ()+2) +
  *(getQ()+3) * *(getQ()+3));
      myIMU.pitch *= RAD_TO_DEG;
      myIMU.yaw
   *= RAD_TO_DEG;
      // Declination of SparkFun Electronics (4005'26.6"N
  10511'05.9"W) is
      //    8 30' E   0 21' (or 8.5) on 2016-07-19
      //
  - http://www.ngdc.noaa.gov/geomag-web/#declination
      // Declination of XYZ
  place (3739'45.9"N 12150'33.3"W)
      //(Pleasanton, California) 13.32 E   0.34
  on 2018-08-29, changing by 0.10W per year
      //myIMU.yaw   -= 8.5;
      myIMU.yaw
  -= 13.32;
      myIMU.roll  *= RAD_TO_DEG;

      if(SerialDebug)
      {

        /*
        Serial.print("Yaw, Pitch, Roll: ");
        Serial.print(myIMU.yaw,
  2);
        Serial.print(", ");
        Serial.print(myIMU.pitch, 2);

        Serial.print(", ");
        Serial.println(myIMU.roll, 2);
*/
/*

        Serial.print("rate = ");
        Serial.print((float)myIMU.sumCount/myIMU.sum,
  2);
        Serial.println(" Hz");
*/
        
      }

      myIMU.count
  = millis();
      myIMU.sumCount = 0;
      myIMU.sum = 0;
    } // if
  (myIMU.delt_t > 500)
  } // if (AHRS)
}

Unity Run Script

csharp

actual methods that are ran and used. includes void start/void update

1using System.Collections;
2using System.Collections.Generic;
3using  UnityEngine;
4using System.IO;
5using System.IO.Ports;
6
7public class DatasetParser  : MonoBehaviour {
8    [Header("Serial Connect")]
9    public SerialPort sp  = new SerialPort("COM3", 115200);     // Change Port
10    public string rawInput  = "";
11
12    [Header("Sensitivity")]
13    public float accelerometerSensitivity  = 16384f;
14    public float gyroscopeSensitivity = 131f;
15    public float magnetometerSensitivity  = 0.6f;
16    public float truncateFactor = 1000;
17
18
19    [Header("Debug  Mode")]
20    public bool debug;
21    [SerializeField] float axDebug = 0f;
22    [SerializeField] float ayDebug = 0f;
23    [SerializeField] float azDebug =  0f;
24    [SerializeField] float gxDebug = 0f;
25    [SerializeField] float gyDebug  = 0f;
26    [SerializeField] float gzDebug = 0f;
27    [SerializeField] float  mxDebug = 0f;
28    [SerializeField] float myDebug = 0f;
29    [SerializeField]  float mzDebug = 0f;
30
31    // Parse parameters
32    [Header("Parsing")]
33    public TextAsset dataSet;
34    private char lineSeparator = '\n';
35    private  char fieldSeparator = '\	';
36
37    // Info
38    private string[] rawStates;
39    public int parseIndex = 3;
40    string[] stateInfo; //used to be no public
41    float deltat; //added to read deltat from arduino code
42
43    // IMU Dataset  Consts
44    [Header("IMU Processing")] 
45    [SerializeField] int axIndex  = 1;
46    [SerializeField] int ayIndex = 2;
47    [SerializeField] int azIndex  = 3;
48    [SerializeField] int gxIndex = 7;
49    [SerializeField] int gyIndex  = 8;
50    [SerializeField] int gzIndex = 9;
51    [SerializeField] int mxIndex  = 10;
52    [SerializeField] int myIndex = 11;
53    [SerializeField] int mzIndex  = 12;
54
55    [SerializeField] float ax = 0f;
56    [SerializeField] float ay  = 0f;
57    [SerializeField] float az = 0f;
58    [SerializeField] float gx =  0f;
59    [SerializeField] float gy = 0f;
60    [SerializeField] float gz = 0f;
61    [SerializeField] float mx = 0f;
62    [SerializeField] float my = 0f;
63    [SerializeField]  float mz = 0f;
64
65    [Header("Tranformation")]
66    Quaternion currRotation;
67    public Transform cube;
68
69    void Start () {
70        if (!debug)
71        {
72            sp.Open();
73            sp.ReadTimeout = 1;
74        }
75        ParseData();
76        //deltat = float.Parse(stateInfo[0]);
77        InvokeRepeating("HandleImu",  2f, 0.5f); //last number default 0.1f, should tecnnically be the same as delta t  (0.5f seconds), now 0.25f
78	}
79
80	/*void FixedUpdate () {
81        if  (debug)
82            DebugState();
83        else
84            ReadState();
85        UpdateCube();
86	}*/
87
88    void HandleImu()
89    {
90        if  (debug)
91        {
92            DebugState();
93        }
94        else
95        {
96            //ReadState();
97            ReadFromConector();
98        }
99        UpdateCube();
100    }
101
102    void UpdateCube()
103    {
104        //  Unity Compensation
105        currRotation = Cleaner.instance.GetQuaternionData(gz,  gx, gy, az, ax, ay, mz, mx, my);
106
107        // General
108        //currRotation  = Cleaner.instance.GetQuaternionData(gx, gy, gz, ax, ay, az, mx, my, mz);
109        cube.rotation  = currRotation;
110    }
111
112    void DebugState()
113    {
114        ax = axDebug/*  / accelerometerSensitivity*/;
115        ay = ayDebug /*/ accelerometerSensitivity*/;
116        az = azDebug/* / accelerometerSensitivity*/;
117        gx = gxDebug/* /  gyroscopeSensitivity * Mathf.PI / 180*/;
118        gy = gyDebug/* / gyroscopeSensitivity  * Mathf.PI / 180*/;
119        gz = gzDebug /*/ gyroscopeSensitivity * Mathf.PI  / 180*/;
120        mx = mxDebug /*/ magnetometerSensitivity*/;
121        my =  myDebug /*/ magnetometerSensitivity*/;
122        mz = mzDebug /*/ magnetometerSensitivity*/;
123    }
124
125    void ReadFromConector()
126    {
127        rawInput = sp.ReadLine();
128        stateInfo = rawInput.Split('\	');
129        print((float.Parse(stateInfo[4])  / gyroscopeSensitivity) + " " 
130            + (float.Parse(stateInfo[5]) / gyroscopeSensitivity)  + " " 
131            + (float.Parse(stateInfo[6]) / gyroscopeSensitivity));
132        ax = float.Parse(stateInfo[1]) / accelerometerSensitivity;
133        ay  = float.Parse(stateInfo[2]) / accelerometerSensitivity;
134        az = float.Parse(stateInfo[3])  / accelerometerSensitivity;
135        gx = float.Parse(stateInfo[4]) / gyroscopeSensitivity  * Mathf.PI/180;
136        gy = float.Parse(stateInfo[5]) / gyroscopeSensitivity  * Mathf.PI / 180;
137        gz = float.Parse(stateInfo[6]) / gyroscopeSensitivity  * Mathf.PI / 180; 
138        mx = float.Parse(stateInfo[7]) / magnetometerSensitivity;
139        my = float.Parse(stateInfo[8]) / magnetometerSensitivity;
140        mz  = float.Parse(stateInfo[9]) / magnetometerSensitivity;
141
142        // Truncate  (sig figs?)
143        ax = Mathf.Round(ax * truncateFactor) / truncateFactor;
144        ay = Mathf.Round(ay * truncateFactor) / truncateFactor;
145        az =  Mathf.Round(az * truncateFactor) / truncateFactor;
146        gx = Mathf.Round(gx  * truncateFactor) / truncateFactor;
147        gy = Mathf.Round(gy * truncateFactor)  / truncateFactor;
148        gz = Mathf.Round(gz * truncateFactor) / truncateFactor;
149        mx = Mathf.Round(mx * truncateFactor) / truncateFactor;
150        my =  Mathf.Round(my * truncateFactor) / truncateFactor;
151        mz = Mathf.Round(mz  * truncateFactor) / truncateFactor;
152    }
153
154    void ReadState()
155    {
156        if (parseIndex >= rawStates.Length) return;
157        stateInfo = rawStates[parseIndex].Split(fieldSeparator);
158        //print(stateInfo[1]);
159        ax = float.Parse(stateInfo[axIndex]) /  accelerometerSensitivity;
160        ay = float.Parse(stateInfo[ayIndex]) / accelerometerSensitivity;
161        az = float.Parse(stateInfo[azIndex]) / accelerometerSensitivity;
162        gx  = float.Parse(stateInfo[gxIndex]) / gyroscopeSensitivity * Mathf.PI / 180;
163        gy  = float.Parse(stateInfo[gyIndex]) / gyroscopeSensitivity * Mathf.PI / 180;
164        gz  = float.Parse(stateInfo[gzIndex]) / gyroscopeSensitivity * Mathf.PI / 180;
165        mx  = float.Parse(stateInfo[mxIndex]) / magnetometerSensitivity;
166        my = float.Parse(stateInfo[myIndex])  / magnetometerSensitivity;
167        mz = float.Parse(stateInfo[mzIndex]) / magnetometerSensitivity;
168        //print(ax + " " + ay + " " + az + " " + gx + " " + gy + " " +  gz + " " + mx + " " + my + " " + mz);
169
170        // Truncate
171        ax  = Mathf.Round(ax * truncateFactor) / truncateFactor;
172        ay = Mathf.Round(ay  * truncateFactor) / truncateFactor;
173        az = Mathf.Round(az * truncateFactor)  / truncateFactor;
174        gx = Mathf.Round(gx * truncateFactor) / truncateFactor;
175        gy = Mathf.Round(gy * truncateFactor) / truncateFactor;
176        gz =  Mathf.Round(gz * truncateFactor) / truncateFactor;
177        mx = Mathf.Round(mx  * truncateFactor) / truncateFactor;
178        my = Mathf.Round(my * truncateFactor)  / truncateFactor;
179        mz = Mathf.Round(mz * truncateFactor) / truncateFactor;
180
181        parseIndex++;
182    }
183
184    void ParseData()
185    {
186        rawStates  = dataSet.text.Split(lineSeparator);
187    }
188}
189

using System.Collections;
using System.Collections.Generic;
using  UnityEngine;
using System.IO;
using System.IO.Ports;

public class DatasetParser  : MonoBehaviour {
    [Header("Serial Connect")]
    public SerialPort sp  = new SerialPort("COM3", 115200);     // Change Port
    public string rawInput  = "";

    [Header("Sensitivity")]
    public float accelerometerSensitivity  = 16384f;
    public float gyroscopeSensitivity = 131f;
    public float magnetometerSensitivity  = 0.6f;
    public float truncateFactor = 1000;


    [Header("Debug  Mode")]
    public bool debug;
    [SerializeField] float axDebug = 0f;
    [SerializeField] float ayDebug = 0f;
    [SerializeField] float azDebug =  0f;
    [SerializeField] float gxDebug = 0f;
    [SerializeField] float gyDebug  = 0f;
    [SerializeField] float gzDebug = 0f;
    [SerializeField] float  mxDebug = 0f;
    [SerializeField] float myDebug = 0f;
    [SerializeField]  float mzDebug = 0f;

    // Parse parameters
    [Header("Parsing")]
    public TextAsset dataSet;
    private char lineSeparator = '\n';
    private  char fieldSeparator = '\	';

    // Info
    private string[] rawStates;
    public int parseIndex = 3;
    string[] stateInfo; //used to be no public
    float deltat; //added to read deltat from arduino code

    // IMU Dataset  Consts
    [Header("IMU Processing")] 
    [SerializeField] int axIndex  = 1;
    [SerializeField] int ayIndex = 2;
    [SerializeField] int azIndex  = 3;
    [SerializeField] int gxIndex = 7;
    [SerializeField] int gyIndex  = 8;
    [SerializeField] int gzIndex = 9;
    [SerializeField] int mxIndex  = 10;
    [SerializeField] int myIndex = 11;
    [SerializeField] int mzIndex  = 12;

    [SerializeField] float ax = 0f;
    [SerializeField] float ay  = 0f;
    [SerializeField] float az = 0f;
    [SerializeField] float gx =  0f;
    [SerializeField] float gy = 0f;
    [SerializeField] float gz = 0f;
    [SerializeField] float mx = 0f;
    [SerializeField] float my = 0f;
    [SerializeField]  float mz = 0f;

    [Header("Tranformation")]
    Quaternion currRotation;
    public Transform cube;

    void Start () {
        if (!debug)
        {
            sp.Open();
            sp.ReadTimeout = 1;
        }
        ParseData();
        //deltat = float.Parse(stateInfo[0]);
        InvokeRepeating("HandleImu",  2f, 0.5f); //last number default 0.1f, should tecnnically be the same as delta t  (0.5f seconds), now 0.25f
	}

	/*void FixedUpdate () {
        if  (debug)
            DebugState();
        else
            ReadState();
        UpdateCube();
	}*/

    void HandleImu()
    {
        if  (debug)
        {
            DebugState();
        }
        else
        {
            //ReadState();
            ReadFromConector();
        }
        UpdateCube();
    }

    void UpdateCube()
    {
        //  Unity Compensation
        currRotation = Cleaner.instance.GetQuaternionData(gz,  gx, gy, az, ax, ay, mz, mx, my);

        // General
        //currRotation  = Cleaner.instance.GetQuaternionData(gx, gy, gz, ax, ay, az, mx, my, mz);
        cube.rotation  = currRotation;
    }

    void DebugState()
    {
        ax = axDebug/*  / accelerometerSensitivity*/;
        ay = ayDebug /*/ accelerometerSensitivity*/;
        az = azDebug/* / accelerometerSensitivity*/;
        gx = gxDebug/* /  gyroscopeSensitivity * Mathf.PI / 180*/;
        gy = gyDebug/* / gyroscopeSensitivity  * Mathf.PI / 180*/;
        gz = gzDebug /*/ gyroscopeSensitivity * Mathf.PI  / 180*/;
        mx = mxDebug /*/ magnetometerSensitivity*/;
        my =  myDebug /*/ magnetometerSensitivity*/;
        mz = mzDebug /*/ magnetometerSensitivity*/;
    }

    void ReadFromConector()
    {
        rawInput = sp.ReadLine();
        stateInfo = rawInput.Split('\	');
        print((float.Parse(stateInfo[4])  / gyroscopeSensitivity) + " " 
            + (float.Parse(stateInfo[5]) / gyroscopeSensitivity)  + " " 
            + (float.Parse(stateInfo[6]) / gyroscopeSensitivity));
        ax = float.Parse(stateInfo[1]) / accelerometerSensitivity;
        ay  = float.Parse(stateInfo[2]) / accelerometerSensitivity;
        az = float.Parse(stateInfo[3])  / accelerometerSensitivity;
        gx = float.Parse(stateInfo[4]) / gyroscopeSensitivity  * Mathf.PI/180;
        gy = float.Parse(stateInfo[5]) / gyroscopeSensitivity  * Mathf.PI / 180;
        gz = float.Parse(stateInfo[6]) / gyroscopeSensitivity  * Mathf.PI / 180; 
        mx = float.Parse(stateInfo[7]) / magnetometerSensitivity;
        my = float.Parse(stateInfo[8]) / magnetometerSensitivity;
        mz  = float.Parse(stateInfo[9]) / magnetometerSensitivity;

        // Truncate  (sig figs?)
        ax = Mathf.Round(ax * truncateFactor) / truncateFactor;
        ay = Mathf.Round(ay * truncateFactor) / truncateFactor;
        az =  Mathf.Round(az * truncateFactor) / truncateFactor;
        gx = Mathf.Round(gx  * truncateFactor) / truncateFactor;
        gy = Mathf.Round(gy * truncateFactor)  / truncateFactor;
        gz = Mathf.Round(gz * truncateFactor) / truncateFactor;
        mx = Mathf.Round(mx * truncateFactor) / truncateFactor;
        my =  Mathf.Round(my * truncateFactor) / truncateFactor;
        mz = Mathf.Round(mz  * truncateFactor) / truncateFactor;
    }

    void ReadState()
    {
        if (parseIndex >= rawStates.Length) return;
        stateInfo = rawStates[parseIndex].Split(fieldSeparator);
        //print(stateInfo[1]);
        ax = float.Parse(stateInfo[axIndex]) /  accelerometerSensitivity;
        ay = float.Parse(stateInfo[ayIndex]) / accelerometerSensitivity;
        az = float.Parse(stateInfo[azIndex]) / accelerometerSensitivity;
        gx  = float.Parse(stateInfo[gxIndex]) / gyroscopeSensitivity * Mathf.PI / 180;
        gy  = float.Parse(stateInfo[gyIndex]) / gyroscopeSensitivity * Mathf.PI / 180;
        gz  = float.Parse(stateInfo[gzIndex]) / gyroscopeSensitivity * Mathf.PI / 180;
        mx  = float.Parse(stateInfo[mxIndex]) / magnetometerSensitivity;
        my = float.Parse(stateInfo[myIndex])  / magnetometerSensitivity;
        mz = float.Parse(stateInfo[mzIndex]) / magnetometerSensitivity;
        //print(ax + " " + ay + " " + az + " " + gx + " " + gy + " " +  gz + " " + mx + " " + my + " " + mz);

        // Truncate
        ax  = Mathf.Round(ax * truncateFactor) / truncateFactor;
        ay = Mathf.Round(ay  * truncateFactor) / truncateFactor;
        az = Mathf.Round(az * truncateFactor)  / truncateFactor;
        gx = Mathf.Round(gx * truncateFactor) / truncateFactor;
        gy = Mathf.Round(gy * truncateFactor) / truncateFactor;
        gz =  Mathf.Round(gz * truncateFactor) / truncateFactor;
        mx = Mathf.Round(mx  * truncateFactor) / truncateFactor;
        my = Mathf.Round(my * truncateFactor)  / truncateFactor;
        mz = Mathf.Round(mz * truncateFactor) / truncateFactor;

        parseIndex++;
    }

    void ParseData()
    {
        rawStates  = dataSet.text.Split(lineSeparator);
    }
}

SampleScene.unity

csharp

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Unity Quaternion Filter

csharp

quaternion method

1using System.Collections;
2using System.Collections.Generic;
3using  UnityEngine;
4
5public class Cleaner : MonoBehaviour {
6
7    private static  Cleaner inst;
8    public static Cleaner instance { get { return inst; } }
9
10    private void Awake()
11    {
12        if (inst != null && inst != this)
13            Destroy(this.gameObject);
14        else
15            inst = this;
16    }
17
18    
19
20
21    /// <summary>
22    /// Gets or sets the sample  period.
23    /// </summary>
24    [SerializeField] public float SamplePeriod  = 501;//501; //delta t. used to be 512
25
26    /// <summary>
27    /// Gets  or sets the algorithm gain beta.
28    /// </summary>
29    [SerializeField] public  float Beta = 0.1f;
30
31    /// <summary>
32    /// Gets or sets the Quaternion  output.
33    /// </summary>
34    [SerializeField] public float[] quat;
35
36    public Quaternion GetQuaternionData(float gz, float gx, float gy, float az,  float ax, float ay, float mz, float mx, float my)
37    {
38        //float.Parse(stateInfo[0])
39        MadgwickQuaternionUpdate(gz, gx, gy, az, ax, ay, mz, mx, my);
40        Quaternion  retQuat = new Quaternion(quat[0], quat[1], quat[2], quat[3]);
41        return  retQuat;
42    }
43
44    /// <summary>
45    /// Algorithm AHRS update method.  Requires only gyroscope and accelerometer data.
46    /// </summary>
47    ///  <param name="gx">
48    /// Gyroscope x axis measurement in radians/s.
49    ///  </param>
50    /// <param name="gy">
51    /// Gyroscope y axis measurement  in radians/s.
52    /// </param>
53    /// <param name="gz">
54    /// Gyroscope  z axis measurement in radians/s.
55    /// </param>
56    /// <param name="ax">
57    /// Accelerometer x axis measurement in any calibrated units.
58    /// </param>
59    /// <param name="ay">
60    /// Accelerometer y axis measurement in any calibrated  units.
61    /// </param>
62    /// <param name="az">
63    /// Accelerometer  z axis measurement in any calibrated units.
64    /// </param>
65    /// <param  name="mx">
66    /// Magnetometer x axis measurement in any calibrated units.
67    /// </param>
68    /// <param name="my">
69    /// Magnetometer y axis measurement  in any calibrated units.
70    /// </param>
71    /// <param name="mz">
72    /// Magnetometer z axis measurement in any calibrated units.
73    /// </param>
74    /// <remarks>
75    /// Optimised for minimal arithmetic.
76    /// Total  : 160
77    /// Total *: 172
78    /// Total /: 5
79    /// Total sqrt: 5
80    /// </remarks> 
81    public void MadgwickQuaternionUpdate(float gz, float  gx, float gy, float az, float ax, float ay, float mz, float mx, float my)
82    {
83        float q1 = quat[0], q2 = quat[1], q3 = quat[2], q4 = quat[3];   // short  name local variable for readability
84        float norm;
85        float hx,  hy, _2bx, _2bz;
86        float s1, s2, s3, s4;
87        float qDot1, qDot2,  qDot3, qDot4;
88
89        // Auxiliary variables to avoid repeated arithmetic
90        float _2q1mx;
91        float _2q1my;
92        float _2q1mz;
93        float  _2q2mx;
94        float _4bx;
95        float _4bz;
96        float _2q1 = 2f  * q1;
97        float _2q2 = 2f * q2;
98        float _2q3 = 2f * q3;
99        float  _2q4 = 2f * q4;
100        float _2q1q3 = 2f * q1 * q3;
101        float _2q3q4  = 2f * q3 * q4;
102        float q1q1 = q1 * q1;
103        float q1q2 = q1 * q2;
104        float q1q3 = q1 * q3;
105        float q1q4 = q1 * q4;
106        float  q2q2 = q2 * q2;
107        float q2q3 = q2 * q3;
108        float q2q4 = q2 * q4;
109        float q3q3 = q3 * q3;
110        float q3q4 = q3 * q4;
111        float  q4q4 = q4 * q4;
112
113        // Normalise accelerometer measurement
114        norm  = (float)Mathf.Sqrt(ax * ax + ay * ay + az * az);
115        if (norm == 0f) return;  // handle NaN
116        norm = 1 / norm;        // use reciprocal for division
117        ax *= norm;
118        ay *= norm;
119        az *= norm;
120
121        //  Normalise magnetometer measurement
122        norm = (float)Mathf.Sqrt(mx * mx +  my * my + mz * mz);
123        if (norm == 0f) return; // handle NaN
124        norm  = 1 / norm;        // use reciprocal for division
125        mx *= norm;
126        my  *= norm;
127        mz *= norm;
128
129        // Reference direction of Earth's  magnetic field
130        _2q1mx = 2f * q1 * mx;
131        _2q1my = 2f * q1 * my;
132        _2q1mz = 2f * q1 * mz;
133        _2q2mx = 2f * q2 * mx;
134        hx =  mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz *  q4 - mx * q3q3 - mx * q4q4;
135        hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2  + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
136        _2bx  = (float)Mathf.Sqrt(hx * hx + hy * hy);
137        _2bz = -_2q1mx * q3 + _2q1my  * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
138        _4bx = 2f * _2bx;
139        _4bz = 2f * _2bz;
140
141        // Gradient  decent algorithm corrective step
142        s1 = -_2q3 * (2f * q2q4 - _2q1q3 - ax)  + _2q2 * (2f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) +  _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) +  _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f -  q2q2 - q3q3) - mz);
143        s2 = _2q4 * (2f * q2q4 - _2q1q3 - ax) + _2q1 * (2f  * q1q2 + _2q3q4 - ay) - 4f * q2 * (1 - 2f * q2q2 - 2f * q3q3 - az) + _2bz * q4 *  (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz *  q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2)  * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
144        s3 = -_2q1  * (2f * q2q4 - _2q1q3 - ax) + _2q4 * (2f * q1q2 + _2q3q4 - ay) - 4f * q3 * (1 -  2f * q2q2 - 2f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 -  q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4)  + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) +  _2bz * (0.5f - q2q2 - q3q3) - mz);
145        s4 = _2q2 * (2f * q2q4 - _2q1q3 -  ax) + _2q3 * (2f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f  - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx *  (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) +  _2bz * (0.5f - q2q2 - q3q3) - mz);
146        norm = 1f / (float)Mathf.Sqrt(s1 *  s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
147        s1  *= norm;
148        s2 *= norm;
149        s3 *= norm;
150        s4 *= norm;
151
152        // Compute rate of change of quaternion
153        qDot1 = 0.5f * (-q2 *  gx - q3 * gy - q4 * gz) - Beta * s1;
154        qDot2 = 0.5f * (q1 * gx + q3 * gz  - q4 * gy) - Beta * s2;
155        qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx)  - Beta * s3;
156        qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - Beta * s4;
157
158        // Integrate to yield quaternion
159        q1 += qDot1 * SamplePeriod;
160        q2 += qDot2 * SamplePeriod;
161        q3 += qDot3 * SamplePeriod;
162        q4  += qDot4 * SamplePeriod;
163        norm = 1f / (float)Mathf.Sqrt(q1 * q1 + q2 *  q2 + q3 * q3 + q4 * q4);    // normalise quaternion
164        quat[0] = q1 * norm;
165        quat[1] = q2 * norm;
166        quat[2] = q3 * norm;
167        quat[3]  = q4 * norm;
168    }
169
170    // NOT DONE YET
171    public void MahonyQuaternionUpdate(float  gz, float gx, float gy, float az, float ax, float ay, float mz, float mx, float  my)
172    {
173        float q1 = quat[0], q2 = quat[1], q3 = quat[2], q4 = quat[3];   // short name local variable for readability
174        float norm;
175        float  hx, hy, bx, bz;
176        float vx, vy, vz, wx, wy, wz;
177        float ex, ey,  ez;
178        float pa, pb, pc;
179
180        // Auxiliary variables to avoid  repeated arithmetic
181        float q1q1 = q1 * q2;
182        float q1q2 = q1  * q2;
183        float q1q3 = q1 * q3;
184        float q1q4 = q1 * q4;
185        float  q2q2 = q2 * q2;
186        float q2q3 = q2 * q3;
187        float q2q4 = q2 * q4;
188        float q3q3 = q3 * q3;
189        float q3q4 = q3 * q4;
190        float  q4q4 = q4 * q4;
191
192        // Normalise accelerometer measurement
193        norm  = (float)Mathf.Sqrt(ax * ax + ay * ay + az * az);
194        if (norm == 0f) return;
195        norm = 1.0f / norm;
196        mx *= norm;
197        my *= norm;
198        mz  *= norm;
199
200        // Reference direction of Earth's magnetic field
201        hx  = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4  + q1q3);
202        hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 +  q4q4) + 2.0f * mz * (q3q4 - q1q2);
203        bx = (float)Mathf.Sqrt((hx * hx) +  (hy * hy));
204        bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2)  + 2.0f * mz * (0.5f - q2q2 - q3q3);
205
206
207        // Estimated direction of  gravity and magnetic field
208        vx = 2.0f * (q2q4 - q1q3);
209        vy =  2.0f * (q1q2 + q3q4);
210        vz = q1q1 - q2q2 - q3q3 + q4q4;
211        wx =  2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
212        wy = 2.0f  * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
213        wz = 2.0f * bx * (q1q3  + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);
214
215        // Error is cross product  between estimated direction and measured direction of gravity
216        ex = (ay  * vz - az * vy) + (my * wz - mz * wy);
217        ey = (az * vx - ax * vz) + (mz  * wx - mx * wz);
218        ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
219
220        /*
221             * 
222             * unfinished business
223             *  need to keep working
224             * the below is still just copied from above  for reference,
225             * so therefore the below code has no significance  and once reach
226             * near the same point delete
227             * 
228             * also have no idea what Ki is above so need to check it out. 
229             * otherwise the code will bork itself
230             * 
231             *  end
232             * 
233             * */
234
235        /*
236        if (Ki  > 0.0f)
237        {
238            eInt[0] += ex;
239            
240
241
242
243        // Gradient decent algorithm corrective step
244        s1 = -_2q3 * (2f  * q2q4 - _2q1q3 - ax) + _2q2 * (2f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f  - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx *  (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) +  _2bz * (0.5f - q2q2 - q3q3) - mz);
245        s2 = _2q4 * (2f * q2q4 - _2q1q3 -  ax) + _2q1 * (2f * q1q2 + _2q3q4 - ay) - 4f * q2 * (1 - 2f * q2q2 - 2f * q3q3 -  az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx  * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx *  q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
246        s3 = -_2q1 * (2f * q2q4 - _2q1q3 - ax) + _2q4 * (2f * q1q2 + _2q3q4 - ay)  - 4f * q3 * (1 - 2f * q2q2 - 2f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx  * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) *  (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx  * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
247        s4 = _2q2 * (2f  * q2q4 - _2q1q3 - ax) + _2q3 * (2f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz *  q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 +  _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx  * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
248        norm = 1f / (float)Mathf.Sqrt(s1  * s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
249        s1  *= norm;
250        s2 *= norm;
251        s3 *= norm;
252        s4 *= norm;
253
254        // Compute rate of change of quaternion
255        qDot1 = 0.5f * (-q2 *  gx - q3 * gy - q4 * gz) - Beta * s1;
256        qDot2 = 0.5f * (q1 * gx + q3 * gz  - q4 * gy) - Beta * s2;
257        qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx)  - Beta * s3;
258        qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - Beta * s4;
259
260        // Integrate to yield quaternion
261        q1 += qDot1 * SamplePeriod;
262        q2 += qDot2 * SamplePeriod;
263        q3 += qDot3 * SamplePeriod;
264        q4  += qDot4 * SamplePeriod;
265        norm = 1f / (float)Mathf.Sqrt(q1 * q1 + q2 *  q2 + q3 * q3 + q4 * q4);    // normalise quaternion
266        quat[0] = q1 * norm;
267        quat[1] = q2 * norm;
268        quat[2] = q3 * norm;
269        quat[3]  = q4 * norm;
270        */
271    }
272
273
274}
275

using System.Collections;
using System.Collections.Generic;
using  UnityEngine;

public class Cleaner : MonoBehaviour {

    private static  Cleaner inst;
    public static Cleaner instance { get { return inst; } }

    private void Awake()
    {
        if (inst != null && inst != this)
            Destroy(this.gameObject);
        else
            inst = this;
    }

    


    /// <summary>
    /// Gets or sets the sample  period.
    /// </summary>
    [SerializeField] public float SamplePeriod  = 501;//501; //delta t. used to be 512

    /// <summary>
    /// Gets  or sets the algorithm gain beta.
    /// </summary>
    [SerializeField] public  float Beta = 0.1f;

    /// <summary>
    /// Gets or sets the Quaternion  output.
    /// </summary>
    [SerializeField] public float[] quat;

    public Quaternion GetQuaternionData(float gz, float gx, float gy, float az,  float ax, float ay, float mz, float mx, float my)
    {
        //float.Parse(stateInfo[0])
        MadgwickQuaternionUpdate(gz, gx, gy, az, ax, ay, mz, mx, my);
        Quaternion  retQuat = new Quaternion(quat[0], quat[1], quat[2], quat[3]);
        return  retQuat;
    }

    /// <summary>
    /// Algorithm AHRS update method.  Requires only gyroscope and accelerometer data.
    /// </summary>
    ///  <param name="gx">
    /// Gyroscope x axis measurement in radians/s.
    ///  </param>
    /// <param name="gy">
    /// Gyroscope y axis measurement  in radians/s.
    /// </param>
    /// <param name="gz">
    /// Gyroscope  z axis measurement in radians/s.
    /// </param>
    /// <param name="ax">
    /// Accelerometer x axis measurement in any calibrated units.
    /// </param>
    /// <param name="ay">
    /// Accelerometer y axis measurement in any calibrated  units.
    /// </param>
    /// <param name="az">
    /// Accelerometer  z axis measurement in any calibrated units.
    /// </param>
    /// <param  name="mx">
    /// Magnetometer x axis measurement in any calibrated units.
    /// </param>
    /// <param name="my">
    /// Magnetometer y axis measurement  in any calibrated units.
    /// </param>
    /// <param name="mz">
    /// Magnetometer z axis measurement in any calibrated units.
    /// </param>
    /// <remarks>
    /// Optimised for minimal arithmetic.
    /// Total  : 160
    /// Total *: 172
    /// Total /: 5
    /// Total sqrt: 5
    /// </remarks> 
    public void MadgwickQuaternionUpdate(float gz, float  gx, float gy, float az, float ax, float ay, float mz, float mx, float my)
    {
        float q1 = quat[0], q2 = quat[1], q3 = quat[2], q4 = quat[3];   // short  name local variable for readability
        float norm;
        float hx,  hy, _2bx, _2bz;
        float s1, s2, s3, s4;
        float qDot1, qDot2,  qDot3, qDot4;

        // Auxiliary variables to avoid repeated arithmetic
        float _2q1mx;
        float _2q1my;
        float _2q1mz;
        float  _2q2mx;
        float _4bx;
        float _4bz;
        float _2q1 = 2f  * q1;
        float _2q2 = 2f * q2;
        float _2q3 = 2f * q3;
        float  _2q4 = 2f * q4;
        float _2q1q3 = 2f * q1 * q3;
        float _2q3q4  = 2f * q3 * q4;
        float q1q1 = q1 * q1;
        float q1q2 = q1 * q2;
        float q1q3 = q1 * q3;
        float q1q4 = q1 * q4;
        float  q2q2 = q2 * q2;
        float q2q3 = q2 * q3;
        float q2q4 = q2 * q4;
        float q3q3 = q3 * q3;
        float q3q4 = q3 * q4;
        float  q4q4 = q4 * q4;

        // Normalise accelerometer measurement
        norm  = (float)Mathf.Sqrt(ax * ax + ay * ay + az * az);
        if (norm == 0f) return;  // handle NaN
        norm = 1 / norm;        // use reciprocal for division
        ax *= norm;
        ay *= norm;
        az *= norm;

        //  Normalise magnetometer measurement
        norm = (float)Mathf.Sqrt(mx * mx +  my * my + mz * mz);
        if (norm == 0f) return; // handle NaN
        norm  = 1 / norm;        // use reciprocal for division
        mx *= norm;
        my  *= norm;
        mz *= norm;

        // Reference direction of Earth's  magnetic field
        _2q1mx = 2f * q1 * mx;
        _2q1my = 2f * q1 * my;
        _2q1mz = 2f * q1 * mz;
        _2q2mx = 2f * q2 * mx;
        hx =  mx * q1q1 - _2q1my * q4 + _2q1mz * q3 + mx * q2q2 + _2q2 * my * q3 + _2q2 * mz *  q4 - mx * q3q3 - mx * q4q4;
        hy = _2q1mx * q4 + my * q1q1 - _2q1mz * q2  + _2q2mx * q3 - my * q2q2 + my * q3q3 + _2q3 * mz * q4 - my * q4q4;
        _2bx  = (float)Mathf.Sqrt(hx * hx + hy * hy);
        _2bz = -_2q1mx * q3 + _2q1my  * q2 + mz * q1q1 + _2q2mx * q4 - mz * q2q2 + _2q3 * my * q4 - mz * q3q3 + mz * q4q4;
        _4bx = 2f * _2bx;
        _4bz = 2f * _2bz;

        // Gradient  decent algorithm corrective step
        s1 = -_2q3 * (2f * q2q4 - _2q1q3 - ax)  + _2q2 * (2f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f - q3q3 - q4q4) +  _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx * (q2q3 - q1q4) +  _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f -  q2q2 - q3q3) - mz);
        s2 = _2q4 * (2f * q2q4 - _2q1q3 - ax) + _2q1 * (2f  * q1q2 + _2q3q4 - ay) - 4f * q2 * (1 - 2f * q2q2 - 2f * q3q3 - az) + _2bz * q4 *  (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q3 + _2bz *  q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q4 - _4bz * q2)  * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
        s3 = -_2q1  * (2f * q2q4 - _2q1q3 - ax) + _2q4 * (2f * q1q2 + _2q3q4 - ay) - 4f * q3 * (1 -  2f * q2q2 - 2f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx * (0.5f - q3q3 -  q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) * (_2bx * (q2q3 - q1q4)  + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx * (q1q3 + q2q4) +  _2bz * (0.5f - q2q2 - q3q3) - mz);
        s4 = _2q2 * (2f * q2q4 - _2q1q3 -  ax) + _2q3 * (2f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz * q2) * (_2bx * (0.5f  - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 + _2bz * q3) * (_2bx *  (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx * (q1q3 + q2q4) +  _2bz * (0.5f - q2q2 - q3q3) - mz);
        norm = 1f / (float)Mathf.Sqrt(s1 *  s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
        s1  *= norm;
        s2 *= norm;
        s3 *= norm;
        s4 *= norm;

        // Compute rate of change of quaternion
        qDot1 = 0.5f * (-q2 *  gx - q3 * gy - q4 * gz) - Beta * s1;
        qDot2 = 0.5f * (q1 * gx + q3 * gz  - q4 * gy) - Beta * s2;
        qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx)  - Beta * s3;
        qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - Beta * s4;

        // Integrate to yield quaternion
        q1 += qDot1 * SamplePeriod;
        q2 += qDot2 * SamplePeriod;
        q3 += qDot3 * SamplePeriod;
        q4  += qDot4 * SamplePeriod;
        norm = 1f / (float)Mathf.Sqrt(q1 * q1 + q2 *  q2 + q3 * q3 + q4 * q4);    // normalise quaternion
        quat[0] = q1 * norm;
        quat[1] = q2 * norm;
        quat[2] = q3 * norm;
        quat[3]  = q4 * norm;
    }

    // NOT DONE YET
    public void MahonyQuaternionUpdate(float  gz, float gx, float gy, float az, float ax, float ay, float mz, float mx, float  my)
    {
        float q1 = quat[0], q2 = quat[1], q3 = quat[2], q4 = quat[3];   // short name local variable for readability
        float norm;
        float  hx, hy, bx, bz;
        float vx, vy, vz, wx, wy, wz;
        float ex, ey,  ez;
        float pa, pb, pc;

        // Auxiliary variables to avoid  repeated arithmetic
        float q1q1 = q1 * q2;
        float q1q2 = q1  * q2;
        float q1q3 = q1 * q3;
        float q1q4 = q1 * q4;
        float  q2q2 = q2 * q2;
        float q2q3 = q2 * q3;
        float q2q4 = q2 * q4;
        float q3q3 = q3 * q3;
        float q3q4 = q3 * q4;
        float  q4q4 = q4 * q4;

        // Normalise accelerometer measurement
        norm  = (float)Mathf.Sqrt(ax * ax + ay * ay + az * az);
        if (norm == 0f) return;
        norm = 1.0f / norm;
        mx *= norm;
        my *= norm;
        mz  *= norm;

        // Reference direction of Earth's magnetic field
        hx  = 2.0f * mx * (0.5f - q3q3 - q4q4) + 2.0f * my * (q2q3 - q1q4) + 2.0f * mz * (q2q4  + q1q3);
        hy = 2.0f * mx * (q2q3 + q1q4) + 2.0f * my * (0.5f - q2q2 +  q4q4) + 2.0f * mz * (q3q4 - q1q2);
        bx = (float)Mathf.Sqrt((hx * hx) +  (hy * hy));
        bz = 2.0f * mx * (q2q4 - q1q3) + 2.0f * my * (q3q4 + q1q2)  + 2.0f * mz * (0.5f - q2q2 - q3q3);


        // Estimated direction of  gravity and magnetic field
        vx = 2.0f * (q2q4 - q1q3);
        vy =  2.0f * (q1q2 + q3q4);
        vz = q1q1 - q2q2 - q3q3 + q4q4;
        wx =  2.0f * bx * (0.5f - q3q3 - q4q4) + 2.0f * bz * (q2q4 - q1q3);
        wy = 2.0f  * bx * (q2q3 - q1q4) + 2.0f * bz * (q1q2 + q3q4);
        wz = 2.0f * bx * (q1q3  + q2q4) + 2.0f * bz * (0.5f - q2q2 - q3q3);

        // Error is cross product  between estimated direction and measured direction of gravity
        ex = (ay  * vz - az * vy) + (my * wz - mz * wy);
        ey = (az * vx - ax * vz) + (mz  * wx - mx * wz);
        ez = (ax * vy - ay * vx) + (mx * wy - my * wx);

        /*
             * 
             * unfinished business
             *  need to keep working
             * the below is still just copied from above  for reference,
             * so therefore the below code has no significance  and once reach
             * near the same point delete
             * 
             * also have no idea what Ki is above so need to check it out. 
             * otherwise the code will bork itself
             * 
             *  end
             * 
             * */

        /*
        if (Ki  > 0.0f)
        {
            eInt[0] += ex;
            



        // Gradient decent algorithm corrective step
        s1 = -_2q3 * (2f  * q2q4 - _2q1q3 - ax) + _2q2 * (2f * q1q2 + _2q3q4 - ay) - _2bz * q3 * (_2bx * (0.5f  - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q4 + _2bz * q2) * (_2bx *  (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q3 * (_2bx * (q1q3 + q2q4) +  _2bz * (0.5f - q2q2 - q3q3) - mz);
        s2 = _2q4 * (2f * q2q4 - _2q1q3 -  ax) + _2q1 * (2f * q1q2 + _2q3q4 - ay) - 4f * q2 * (1 - 2f * q2q2 - 2f * q3q3 -  az) + _2bz * q4 * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx  * q3 + _2bz * q1) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx *  q4 - _4bz * q2) * (_2bx * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
        s3 = -_2q1 * (2f * q2q4 - _2q1q3 - ax) + _2q4 * (2f * q1q2 + _2q3q4 - ay)  - 4f * q3 * (1 - 2f * q2q2 - 2f * q3q3 - az) + (-_4bx * q3 - _2bz * q1) * (_2bx  * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (_2bx * q2 + _2bz * q4) *  (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + (_2bx * q1 - _4bz * q3) * (_2bx  * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
        s4 = _2q2 * (2f  * q2q4 - _2q1q3 - ax) + _2q3 * (2f * q1q2 + _2q3q4 - ay) + (-_4bx * q4 + _2bz *  q2) * (_2bx * (0.5f - q3q3 - q4q4) + _2bz * (q2q4 - q1q3) - mx) + (-_2bx * q1 +  _2bz * q3) * (_2bx * (q2q3 - q1q4) + _2bz * (q1q2 + q3q4) - my) + _2bx * q2 * (_2bx  * (q1q3 + q2q4) + _2bz * (0.5f - q2q2 - q3q3) - mz);
        norm = 1f / (float)Mathf.Sqrt(s1  * s1 + s2 * s2 + s3 * s3 + s4 * s4);    // normalise step magnitude
        s1  *= norm;
        s2 *= norm;
        s3 *= norm;
        s4 *= norm;

        // Compute rate of change of quaternion
        qDot1 = 0.5f * (-q2 *  gx - q3 * gy - q4 * gz) - Beta * s1;
        qDot2 = 0.5f * (q1 * gx + q3 * gz  - q4 * gy) - Beta * s2;
        qDot3 = 0.5f * (q1 * gy - q2 * gz + q4 * gx)  - Beta * s3;
        qDot4 = 0.5f * (q1 * gz + q2 * gy - q3 * gx) - Beta * s4;

        // Integrate to yield quaternion
        q1 += qDot1 * SamplePeriod;
        q2 += qDot2 * SamplePeriod;
        q3 += qDot3 * SamplePeriod;
        q4  += qDot4 * SamplePeriod;
        norm = 1f / (float)Mathf.Sqrt(q1 * q1 + q2 *  q2 + q3 * q3 + q4 * q4);    // normalise quaternion
        quat[0] = q1 * norm;
        quat[1] = q2 * norm;
        quat[2] = q3 * norm;
        quat[3]  = q4 * norm;
        */
    }


}

Downloadable files

Wiring

Sparkfun IMU MPU-9250 to Arduino Uno board

Wiring

Sparkfun IMU MPU-9250 to Arduino Uno board

Wiring

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