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.

stm32f4_mpu9250-master
......................\.gitignore
......................\Algorithm
......................\.........\inc
......................\.........\...\CKF.h
......................\.........\...\Control.h
......................\.........\...\Double.h
......................\.........\...\EKF.h
......................\.........\...\INS_EKF.h
......................\.........\...\PID.h
......................\.........\...\Quaternion.h
......................\.........\...\SRCKF.h
......................\.........\...\UKF.h
......................\.........\src
......................\.........\...\CKF.C
......................\.........\...\Control.c
......................\.........\...\EKF.c
......................\.........\...\INS_EKF.c
......................\.........\...\PID.c
......................\.........\...\Quaternion.c
......................\.........\...\SRCKF.c
......................\.........\...\UKF.c
......................\Application
......................\...........\inc
......................\...........\...\stm32f4_common.h
......................\...........\...\stm32f4_crc.h
......................\...........\...\stm32f4_delay.h
......................\...........\...\stm32f4_dmp.h
......................\...........\...\stm32f4_exti.h
......................\...........\...\stm32f4_gps.h
......................\...........\...\stm32f4_mpu9250.h
......................\...........\...\stm32f4_ms5611.h
......................\...........\...\stm32f4_rcc.h
......................\...........\...\stm32f4_serial.h
......................\...........\...\stm32f4_string.h
......................\...........\...\stm32f4_ublox.h
......................\...........\...\stm32f4xx_conf.h
......................\...........\...\stm32f4xx_it.h
......................\...........\src
......................\...........\...\main.c
......................\...........\...\stm32f4_delay.c
......................\...........\...\stm32f4_exti.c
......................\...........\...\stm32f4_gps.c
......................\...........\...\stm32f4_mpu9250.c
......................\...........\...\stm32f4_ms5611.c
......................\...........\...\stm32f4_rcc.c
......................\...........\...\stm32f4_serial.c
......................\...........\...\stm32f4_string.c
......................\...........\...\stm32f4_ublox.c
......................\...........\...\system_stm32f4xx.c
......................\Calibration App
......................\...............\ahrs v1.003.zip
......................\Common
......................\......\inc
......................\......\...\Memory.h
......................\......\src
......................\......\...\Memory.c
......................\Data
......................\....\inc
......................\....\...\Fifo.h
......................\....\...\Queue.h
......................\....\src
......................\....\...\Fifo.c
......................\....\...\Queue.c
......................\Drivers
......................\.......\inc
......................\.......\...\stm32f4_exti.h
......................\.......\...\stm32f4_gpio.h
......................\.......\...\stm32f4_spi.h
......................\.......\...\stm32f4_usart.h
......................\.......\src
......................\.......\...\stm32f4_exti.c
......................\.......\...\stm32f4_gpio.c
......................\.......\...\stm32f4_spi.c
......................\.......\...\stm32f4_usart.c
......................\Gps
......................\...\inc
......................\...\...\Map.h
......................\...\...\Nema.h
......................\...\src
......................\...\...\Map.c
......................\...\...\Nema.c
......................\Hardware
......................\........\IMU_PCB.pdf
......................\........\imu_gerber.zip
......................\LICENSE
......................\Libraries
......................\.........\CMSIS
......................\.........\.....\CMSIS END USER LICENCE AGREEMENT.pdf
......................\.........\.....\Device
......................\.........\.....\......\ST
................

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