Samuel Cowen
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Compensating for misaligned inertial sensors

Started this discussion. Last reply by Samuel Cowen Jan 21, 2014. 4 Replies

How does an AHRS compensate for inertial sensors that are not aligned with the airframe?In this case, the integrated / filtered orientation (i'll call it the sensor orientation) is in the form of a…Continue

Tags: AHRS, quaternion


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Avionics Engineer (profession)
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UAVs are the ultimate combination of my two favourite things.

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Quaternion based AHRS using AltIMU-10 & Arduino

Posted on November 23, 2013 at 1:30am 7 Comments

I've made a quaternion based AHRS with bonus altitude and temperature sensing using an AltIMU-10 and an Arduino Nano. It can print out orientation in either Euler angles (heading, pitch, roll), a north-east-down rotation matrix or as a quaternion over UART serial.




  • 50hz update rate
  • Half second warm up time. Usually it…

Comment Wall (1 comment)

At 4:53am on August 5, 2013, Michael Johnston said…

Hi Samuel,

I've got a RPi and the Skysurfer variant of this frame.  Am watching where you are headed with this project with interest.


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