This is an example program doing sensor fusion between the IMU Brick and the Barometer Bricklet. We try to estimate a more reliable altitude by combining air pressure measurements from the Barometer Bricklet with the acceleration measurements and the quaternion from the IMU Brick.

The result is drawn on a live graph with Qwt.

There is still some drift in the Barometer data that is not removed. Perhaps we can improve that by imcorporating GPS data in the future! Also there is likely room for improvement by simply twiddling with the velocity, position and integral gain (KP1, KP2 and KI).

• Youtube video: http://youtu.be/TaqtzG7lyp0
• IMU Brick: http://www.tinkerforge.com/en/doc/Hardware/Bricks/IMU_Brick.html
• Barometer Bricklet: http://www.tinkerforge.com/en/doc/Hardware/Bricklets/Barometer.html