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Access the data of 3-axis magnetometer and DMP from MPU9250 with SPI interface, All data fusion via EKF/UKF/CKF/SRCKF algorithm

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downloade/stm32f4_mpu9250

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stm32f4_mpu9250

Access the data of 3-axis magnetometer and DMP from MPU9250 with SPI interface

All data fusion (including the data of dmp output, such as the accelerometer data, gyroscope, 6-axis quaternion and internal magnetometer data) via a 7-state, 13-mesurement EKF(Extended Kalman filter) / Unscented Kalman Filter(UKF) / Cubature Kalman Filters (CKF) Algorithm.

1.kalman feature:

prediction state: q0 q1 q2 q3 wx wy wz
mesurement:q0 q1 q2 q3(q0~q3 from dmp ouput) ax ay az wx wy wz mx my mz

2.Add a miniIMU for doctor's miniQuadrotor

2.1add a new fixed-point ekf algorithm for doctor's miniQuadrotor 

please check the miniIMU directory at the root and look the usage.txt for using!

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Access the data of 3-axis magnetometer and DMP from MPU9250 with SPI interface, All data fusion via EKF/UKF/CKF/SRCKF algorithm

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