![]() This library aims to provide a more sane approach, with application code not requiring any buffer handling or IMU specific logic. The packet layout and packet-in-packet (MData2) format variations mean writing a general handler and decoder is a bit terse, and the xsens C++ example shifts this responsibility to the developer. With the exception of one Arduino library (which didn't work for me), and examples from xsens which are SPI/I2C & specific to MTi-1/3/7 modules, there wasn't anything available (other than ARM SBC options) which would let me interface an external AHRS unit to my embedded platform.Īt time of writing, I couldn't find any suitable C libraries/examples for communicating over UART/RS232. Happy to discuss issues & merge reasonable PRs. The parser is hardware agnostic, with a design philosophy around structured data and callback functions when valid packets are decoded. ![]() ![]() This C library is intended for use on microcontrollers (though can be used on typical computers fairly easily) for high performance robotics applications. ![]()
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