Repository holding code corresponding the information on the new "Arduino Nano 33 BLE" board as it's project page.

MPU9250 driver with AHRS filter

Madgwick's implementation of Mayhony's AHRS algorithm in object oriented form

Madgwick and Mahony algorithms for sensor fusion in golang

This project uses STM32F1RCT6, MPU6050, MG513P30_12V as the main devices to carry the balance car, and the development language is C. The functions such as Mahony attitude calculation and PPM remote control are realized.

Sensor Fusion library, including complementary, Mahony, and Madgwick filters.