Daisy 7 and Fox G20 - AHRS KIT

FOX AHRS demo system by Federico Lolli. Open source software demo that integrate data incoming from the DAISY-7 gyroscope, accelerometer and magnetometer using a Kalman filter and provide a stream of orientation/position data on USB gadget port, serial port, UDP socket. The software include a windows based graphic user interface that shown all data in real-time.screenshot.jpg

FOX AHRS is a small size and low weight measurement unit, excellent for control and navigation of (un)manned systems and other equipments.

The FOX AHRS is a GPS aided MEMS based Inertial Measurement Unit (IMU) and static pressure sensor. It delivers unprecedented performance for its size, weight, cost and low complexity in use.

It was designed to be the most versatile IMU and AHRS platform available. Its host of on-board sensors, algorithms, real-time communication via USB device port and Ethernet. The on-board SD card, real-time clock/calendar and motion trigger wake up also make the FOX AHRS an ideal standalone data logger.

A window based AHRS graphic user interface can be used to configure, shows real-time measurements and export data to othet softwares as like as Microsoft Excel, Matlab, etc.


  • 3D Orientation (360°)
  • 3D Position
  • 3D acceleration, 3D rate of turn, 3D magnetic field

On-board sensors

  • Digital triple axis accelerometer magnetometer and gyroscope
  • Digital-output X, Y, and Z-Axis ±2g ±4g ±8g dynamically selectable full-scale acceleration
  • Digital-output X, Y, and Z-Axis angular rate sensors (gyros) on one integrated circuit with a range of 250/500/2000 °/sec
  • Digital-output X, Y, and Z-Axis ±0.88/1.33/1.9/2.5/4.0/4.7/5.6/8.1Ga dynamically selectable full-scale magnetometer
  • Fast and low noise 10hz GPS
  • Digital pressure sensor 0.03hPa (resolution 0.25m) ultra high resolution
  • Fast Mode I2C (400kHz) and serial interface
  • 16 bit data output ADCs provide simultaneous sampling of gyros and acceleration while requiring no external multiplexer
  • 10000 g high shock survivability
  • Enhanced bias and sensitivity temperature stability reduces the need for user calibration
  • RoHS and Green compliant

On-board algorithms

  • IMU and AHRS algorithms provide real-time measurement of orientation relative to the Earth
  • Internal states updated at 256 Hz
  • Selectable kalman filtering algorithms
  • Open source code and algorithms


  • USB
  • ethernet
  • Micro SD card
  • UART

Power options

  • USB
  • LiPo battery
  • External source from 5V

AHRS GUI Software

The AHRS GUI (Graphical User Interface) provides interface to all features and functionality of the FOXAHRS USB. The AHRS GUI is open source and so is intended to serve as a comprehensive template for those using the AHRS to develop their own applications


E-mail me when people leave their comments –

You need to be a member of diydrones to add comments!

Join diydrones


  • can any body help me with an EKF code for attitude estimation using APm 2.0

    I have been stuck forever in this and I tried several codes, but with no major success. I am using matlab for lab testing. I cannot pinpoint the actual problem I am currently facing using several algorithm.

    Can some one guide me step by step how to pick the right EKF model and what are the right covariance matrices to use?

  • yes is possible,I don't see the problem.

  • Hello can this device be used for a camera triggering system. I am using the APM2 with a foam plane and a camera below. I something that can trigger a picture which is a footprint of an area.

  • I am getting excellent results with complementary filter

  • the ekf is( ekf ) I'm still deciding on which way to go

  • Sorry to be nit-picky, but the Madgwick and Mahoney solutions are complementary filters, not Kalman filters. Are you saying you prefer the Madgwick filter to your EKF?

    - Roy

  • Moderator

    Hi Federico , my skype account is : virtualrobotix i would like meet you to discuss about our project :)

  • yes I have used the same images and opengl code to create the cube.I must still add to the gui the  calibration algorithm start command that for now you can only run over SSH.

  • @Federico

    I assume the GUI Software is based on the project from Sebastian Madgwick (,  right?

  • si sto cercando collaboratori da un sacco dato che con solo il mio tempo si va avanti poco o niente...

    vorrei riuscire a creare qualcosa di veramente flessibile e potente in modo da andare oltre le comuni schede sutopiloti o Sas. In questo modo integrare tecnologie  non so tipo l'optical flow per il volo stazionario, streaming video in wireless, possibilitá di ricevere comandi da iphone o dispositivi android ecc...

    insomma andare oltre i soliti micro per rendere l'autopilota integrato con le piú moderne tecnologie consumer.


This reply was deleted.