An attempt to deal with fusion filters and  AHRS utilizing ADAFRUIT BNO055 9 axis absolute orientation sensor and an Arduino Mega 2650.

The project consists of an Arduino MEGA 2650 and an ADAFRUIT BNO055 9 axis orientation sensor which has a magnetometer, gyroscope and accelerometer and an on board ARM processor . The code has the possibility to use the hardware fusion engine or software fusion filters like Madgwick and Mahony. These filters fuse the accelerometer, gyroscope and magnetometer data and are capable of absolute spatial orientation. An attitude and heading reference system (AHRS) consists of sensors on three axes that provide attitude information for e.g. aircraft. The output of the fusion filters is a quaternion that can be transformed in the so designed Euler or Tait-Bryan angles (yaw,pitch and roll).