The Adafruit AHRS library (Github) and AHRS Learning Guide have been updated with new examples and sections on magnetometer calibration, as well as an example of sensor fusion using all of the available sensor outputs (accelerometer, calibrated magnetometer and gyroscope data). We’re still working on improving this, but if you’re using our 9DOF, 10DOF or LSM9DSO breakouts, you’ll want to have a look at these updates which will help convert the raw sensor data into more useful real world values!
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