AHRS

One of examples for Navio demonstrates the work of Mahony AHRS with the data from an onboard MPU9250 or LSM9DS1 sensor. We’ve also made a simple but cool visualizer for it that you can run on your PC\Mac. Here’s the instruction how to run AHRS and visualizer:

Preparing your Mac

Install pip and use it to get required packages:

sudo pip install PyOpenGL PyOpenGL_accelerate
sudo pip install pyserial

You might be asked to install command line developer tools along the way.

Preparing your PC

• Install Python
• Install OpenGL
• Install Pyserial
• Download Freeglut binaries and place 32-bit and 64-bit DLLs to Windows 32-bit (C:\Windows\SysWOW64) and 64-bit (C:\Windows\System32) folders

On Mac

Download the archive with Navio utilities. Extract the archive, enter the directory with 3DIMU utility and run it:

cd Navio2/Utilities/3DIMU
python 3Dimu.py

On PC

Download the archive with Navio utilities. Extract the archive, enter the directory with 3DIMU utility, open .py file with Python. Make sure Windows Firewall is off.

On Raspberry Pi

Clone Navio repository using the following instructions. Navigate to the folder with AHRS example, compile and run it:

cd C++/Examples/AHRS
make
./AHRS -i [sensor name] X.X.X.X 7000

Where X.X.X.X is an ip address of your PC. 7000 is the port number used in 3DIMU. Argument [sensor name] allows you to choose inertial measurement unit: mpu is MPU9250, lsm is LSM9DS1.

Now try to move your Navio and check how the “brick” on the screen moves along with it.