This library is a Mahony-based AHRS and Tilt compensated compass for ESP32s and the LSM9DS1 sensor, written and tested for the Adafruit LSM9DS1 breakout board, using I2C connection on a Tiny S3 (ESP32) using PlatformIO. This library is a a fork of jremington's AHRS library for the sensor of the same name, however it utilizes [Adafruits's LSM9DS1](https://github.com/adafruit/Adafruit_LSM9DS1) library instead of the Sparkfun one and operates using C++ instead of Arduino conventions.
This library was written to support the Ringinator project and to better understand the science behind Mahony.
