Embedded library for working with AltIMU-10 (gyro, accelerometer, magnetometer, barometer, termometer)

A simple code for Raspberry PI that reads angular velocity measurements from AltIMU-10 sensor, integrates quaternion kinematic equation. As a result there is a relative orientation of coordinate system frame attached to sensor. The value of relative orientation is sent to Matlab Simulink model by UDP protocol. The simulink model represents this orientation visually.

Write correct IP address in file main.cpp in src folder and type

  make clean
  make

Open and run simulink model ./simulink/frame_renderer.slx, and after this run gyro program on RaspberryPI

  ./run.sh

or

  sudo nice --20 ./gyro