Razor 6 DOF IMU + Arduino

Hi all, I ported DCM code to Arduino connected to Sparkfun's IMU Razor board. (3 gyros and 3 accelerometers) Write up - connection diagram and code - is at: http://voidbot.net/razor-6dof.html

"DCM" is state estimation algorithm, with the same / similar end goal as Kalman filter.

This is the IMU board from sparkfun: http://www.sparkfun.com/commerce/product_info.php?products_id=9431

@auto11, I just came across this - thanks very much for posting your DCM mod code for this IMU. Awesome! I was always curious about DCM and having this in the arduino context will make it easier to learn. Thanks!