A first version of the 9-axis data fusion software for the Arduino and InvenSense MPU-9150 can now be downloaded from GitHub. Called MPU9150Lib, the software outputs 9-axis fused data from the MPU-9150′s DMP and magnetometer. It has some simple sketches showing how the software can be used and also to calibrate the accelerometers and magnetometer. Intended as a starting point for projects using the MPU-9150, MPU9150Lib runs quite happily on an 8MHz LilyPad (ATMega 328 version) fitted out with a Sparkfun MPU-9150 breakout board and there’s plenty of room for optimization!
The magnetometer calibration and system for integrating magnetometer data with the DMP quaternion yaw information are both pretty basic at this stage. It does work sufficiently well for simple applications but we hope to improve this in later versions.