Reefwing AHRS Arduino Library for Drones — Part 2

David Such
12 min readAug 9, 2023

The Reefwing AHRS library provides an Attitude and Heading Reference System (AHRS) class for use with Arduino compatible boards. In Part 2 of this article we will explain how to use the library and provide hardware specific examples for the Arduino Nano, Nano 33 BLE, Nano 33 BLE SENSE (REV 1 and REV 2), Nano 33 IoT, MKR Vidor 4000, Portenta H7 and the Seeed XIAO nRF52840 Sense boards. These will use the following IMUs:

  • LSM9DS1
  • LSM6DS3
  • BMI270 & BMM150
  • MPU6000/MPU6500/MPU6…

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David Such

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