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Open Source Sensor Fusion
I noticed back in September this repository's Readme refers to versions 4.2 and 5 of NXP's Sensor Fusion, and there hadn't been any updates since then. I just wanted to let folks know, if anyone is still here :-), that I've ported NXP's version 7.2 algorithm to run on ESP32 / ESP8266 processors. Among several improvements, this version has the ability to perform magnetic calibration as a background task while running the regular sensor fusion.
The repository is here: https://github.com/BjarneBitscrambler/OrientationSensorFusion-ESP I've been successfully using it with the NXP FXOS8700 / FXAS21002 sensor combination, and also have a library that outputs the orientation data in SignalK format (https://github.com/BjarneBitscrambler/SignalK-Orientation)
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