The IMU is the core of our Attitude Heading Reference System (AHRS).
We will develop based on the following reference code:
Firmware + Test / Calibration Sketch (Arduino Code + Processing Test Program)
https://dev.qu.tu-berlin.de/attachments/download/989/Razor_AHRS_Firmware_and_Test_Sketch_v1.4.0_UPDATED.zip
Tutorial:
https://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs/wiki/Tutorial
Matlab Code / Theory