How to Write your own Flight Controller Software — Part 7

The Attitude and Heading Reference System (AHRS)

David Such
25 min readMar 21, 2022

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This article covers the Attitude and Heading Reference System (AHRS), IMU Filters and Sensor Fusion. We have released the open source ReefwingAHRS Arduino library to demonstrate these techniques on the Nano 33 BLE. It is available for download using the Arduino Library Manager.

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David Such

Reefwing Software · Embedded Systems Engineer · iOS & AI Development · Robotics · Drones · Arduino · Raspberry Pi · Flight Control