Minimu AHRS

AHRS Kalman based system using Pololu Minimu-9 v5 sensor combo. This is a demo utilising Linux Minimu reader and Kalman filter AHRS libraries.

For more detail please visit submodules with the mentioned libraries in the lib directory.

Build

If you haven't cloned recursively init submodules with:

git submodule init
git submodule update

This depends on the Linux kernel I2C driver via userspace access library. On Debian that is the libi2c-dev package.

You can run build in Docker. For example to map the project directory as a Docker volume run: docker run -v `pwd`:/proj -it agvpolsl/minimu-i2c-builder.

Build follows standard CMake procedure; in the project directory run:

mkdir build && cd build
cmake ..
cmake --build .