Integration of 10DOF IMU and RTK-GPS Receiver

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Hello sir,

thank you for your respond.
here is my coding to extract both of my 10DOF IMU and RTK-GPS.
For IMU, the model accel-gyro is MPU6050) while magnetometer is QMC588L.
Fof RTK-GPS, the model is NS-HP 1Hz.
Here is the attachment for both code 10DOF IMU and RTK-GPS.
can you help us how to fuse the code between both of my sensor along with the wire connection? (such as kalman filter or something useful)

Your cooperation is greatly appreciated,

Thank You,

Nazrin.

ag_and_mag.ino (7.41 KB)

SkytraqNmeaParserUno.ino (5.79 KB)

SkyTraqNmeaParser.h (11.3 KB)

SkyTraqNmeaParser.cpp (29.8 KB)