Reefwing MPU6000/MPU6500 IMU Arduino Library

David Such
5 min readJul 10, 2023

While testing our updated Attitude and Heading Reference System (AHRS) library with a variety of IMUs, we found that there were not a lot of options for the MPU6500. The most popular library appears to be fastIMU, which supports a LOT of different IMU sensors. Unfortunately for us, this library includes a Quaternion structure which clashes with our Quaternion class in imuTypes. Also, it doesn’t provide a time stamp for each sensor reading which we use when displaying the data using the xIMU3 application. So we decided to publish our own version. The Reefwing MPU-6x00 Library can…

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David Such

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