IMU Data Fusing: Complementary, Kalman, and Mahony Filter

ref:http://www.olliw.eu/2013/imu-data-fusing/

Mahony’s Filter in Quaternion Form as Implemented by Madgwick   (code: madgwick_algorithm_c.zip)

Madgwick’s 6DOF IMU Filter (wo gyro drift correction)   (code: madgwick_algorithm_c.zip)