I've managed to fuse the data from MPU's Acc/Gyro and QMC Magnetometer using Madgwick filter. Basicly what the code does in main loop is gathering values from Acc, Gyro and Mag. Then making data fusion with MadgwickAHRS, calculating yaw, pitch, roll angles and sending them through serial port with 2…

MPU6050 + QMC5883L + MadgwickAHRS filter frequency problem

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