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

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

Installation

WIP

How to use

Dependencies