This is the Sensor Fusion subsystem of [Attitude and Heading Reference System (AHRS) repo](https://github.com/pronenewbits/Arduino_AHRS_System). Don't forget to calibrate the Magnetometer!

See [the subsystem section for explanation](https://github.com/pronenewbits/Arduino_AHRS_System#subsystem-1-the-sensor-fusion-algorithm).