# stm32f4_mpu9250

**Repository Path**: datree1353/stm32f4_mpu9250

## Basic Information

- **Project Name**: stm32f4_mpu9250
- **Description**: Access the data of 3-axis magnetometer and DMP from MPU9250 with SPI interface, All data fusion via EKF/UKF/CKF/SRCKF algorithm
- **Primary Language**: C
- **License**: MIT
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 1
- **Created**: 2018-07-04
- **Last Updated**: 2021-03-22

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# stm32f4_mpu9250
Access the data of 3-axis magnetometer and DMP from MPU9250 with SPI interface 

All data fusion (including the data of dmp output, such as the accelerometer data,
gyroscope, 6-axis quaternion and internal magnetometer data) via a 7-state, 13-mesurement
EKF(Extended Kalman filter) / Unscented Kalman Filter(UKF) / Cubature Kalman Filters (CKF) Algorithm / 
Square-Root Cubature Kalman Filters (SRCKF) Algorithm.

1.kalman feature:

	prediction state: q0 q1 q2 q3 wx wy wz
	mesurement:q0 q1 q2 q3(q0~q3 from dmp ouput) ax ay az wx wy wz mx my mz

2.Add a miniIMU for doctor's miniQuadrotor
	
	add a new fixed-point ekf algorithm for doctor's miniQuadrotor 
	please check the miniIMU directory at the root and look the usage.txt for using!

3.Add a win32 application for serial port communication

	calibraion for accelerometer, gyroscope, magnetometer
	please check the "Calibration App" directory at the root

4.Add a miniAHRS for 9-axis fusion, such as ax ay az wx wy wz mx my mz form accelerometer,gyroscope,magnetometer

	7-state ekf algorithm: quaternion and 3-axis gyroscope bais
	3-mesurement for accelerometer
	3-mesurement for magnetometer

5.Add a GPS/ins implement via ekf fusion algorithm

	16-state ekf algorithm: 4 quaternion, 3D postion, 3D velocity, 3-axis gyroscope bais and 3-axis accelerometer bais
	9-mesurement for magnetometer, 3D postion and 3D velocity from gps and barometer

6.Other stuff

	add ms5611 spi driver
	using 4-order Runge_Kutta to slove the quaternion differential equation.

7.Add a 9-axis sensor fusion with square-root cubature Kalman filter for testing

	7-state srckf algorithm: quaternion and 3-axis gyroscope bais
	6-mesurement for accelerometer, magnetometer ouput

8.add ublox-m8n uart4 driver

9.Emulated double precision Double single routine