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This program is distributed in the hope that it will be useful,
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AHRS algorithm, comprehending a Kalman Filter and Madgwick's Algorithm.
This code has been tested on a STM32F767ZI DevBoard from STMicroelectronics, using an IMU from Honeywell Aerospace Inc., and a low level GPS module.
Soon a full report will be publishied in this Repository, also Licensed under GNU-FDL