Direction Cosine Matrix
In this page the source code for the Direction Cosine Matrix can be found. The hardware I used is the CHR-6D from CH Robotics. The algorithm is based on the DCM paper from William Premerlani. The archive contains the following:
- CHR-6d firmware with the DCM implementation (based on the original firmware from CH Robotics)
- Windows application that can be used to display the IMU and DCM data
- Matlab script used to prototype and validate the DCM implementation
- Example log file of raw data acquired from the IMU
Note: This is still work in progress, let me know if you find something that needs to be improved (or even better fix it and send me the updated source 
).
Downloads: