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AHRS


This example demonstrates the work of Mahony AHRS with the data from an onboard MPU9250 or LSM9DS1 sensor. We have also made a simple but cool visualizer that you can run on your PC or Mac. Below are the instructions how to run AHRS and visualizer.

Prepare 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.

Prepare your PC​

  1. Install Python.
  2. Install OpenGL.
  3. Install Pyserial.
  4. 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 Navio2 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 Navio2 utilities. Extract the archive, enter the directory with 3DIMU utility, open .py file with Python. Make sure Windows Firewall is off.

On Raspberry Pi​

  1. Clone Navio2 repository using the following instructions.
  2. Build the examples performing the following commands:
cd C++
make
  1. Check the AHRS example running this command:
cd Build
./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 Navio2 and check how the “brick” on the screen moves along with it.