Sebastian Madgwick developed an IMU and AHRS




File list:
@MadgwickAHRS
............\MadgwickAHRS.m
@MahonyAHRS
..........\MahonyAHRS.m
quaternion_library
.................\axisAngle2quatern.m
.................\axisAngle2rotMat.m
.................\euler2rotMat.m
.................\quatern2euler.m
.................\quatern2rotMat.m
.................\quaternConj.m
.................\quaternProd.m
.................\rotMat2euler.m
.................\rotMat2quatern.m
.................\TestScript.m
ExampleData.mat
ExampleScript.m