Turingon/LSM9DS1-Adafruit-AHRS
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LSM9DS1-Adafruit-AHRS

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 library instead of the Sparkfun one and operates using C++ instead of Arduino conventions.

![Image of the IMU](image url "https://cdn-shop.adafruit.com/970x728/4634-12.jpg")

This library was written to support the Ringinator project and to better understand the science behind Mahony.

Installation

WIP

How to use

Dependencies