Pololu Mini-IMU9 with FreeIMU?

Asked by pounce on 2011-12-24


I am humbled by the expertise and work being done here. I would be grateful for any help you might be willing to offer.

I have purchased a Pololu Mini-IMU9 sensor from Pololu:


I am using this sensor with an Arduino Mini Pro 5v.

I selected these items because my project has space constraints and both of these items fit with very little room to spare.

Issue: The AHRS code posted for use with this sensor does not appear to be to be working correctly. for example: >360 yaw physical rotations aren't displaying correctly.

Rather than spend a lot of time going through the code I thought it might be better to look for some of the best code possible and use the time to adapt it to the Mini-IMU9 sensor. I found your project several months ago when looking at quad copter control units. My current project is not a flying object. It's a stage prop for dance and movement.

Given this information I would like to ask your opinion on level of effort to adapt your code to use this sensor hardware. I've looked at the code just now from Madgwick. In that code I am not sure how to pass the parameters since the methods are not documented. Any pointers or pushes in the right direction would be most appreciated. Forgive me for asking questions about hardware sensors that are not your own.

Happy Holidays!

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I'd start from the FreeIMU library code: http://www.varesano.net/projects/hardware/FreeIMU#library .. Then I would replace the FreeIMU sensor code with the libraries provided by pololu. You can start from the code provided by pololu https://github.com/pololu/L3G4200D and https://github.com/pololu/L3G4200D . Your goal is to provide to the FreeIMU library the axis readings from the acc, gyro and magnetometer. Note that the library expect the axis to be aligned between sensors. This may not be true for your IMU so you may have to align them in software by swapping the sensor axis readings.

Feel free to ask here for help.

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