This project is a 9 degrees of freedom headtracker made using a STM32 microcontroller, a MPU-9250 MEMS-device and the open source Madgwick sensor-fusion algorithm. The MCU directory contain microcontroller relevant-code. The analysis directory contain a directory which include analysis software which plots the sensor output by intercepting raw HID-communication data through the USB protocol. This project is build using gcc and makefiles. More details are available on my website: https://risaksson.com/2020/10/11/embedded-development-usb-inertial-headtracker/