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AHRS for Discovery-M1
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The STEVAL-MKI121CD1 is a CD which includes the AHRS algorithm as a pre-compiled library (in .lib format) for Discovery-M1 (order code STEVAL-MKI121V1).

The AHRS algorithm provides 3D orientation, combining data from 3x gyroscope and 6x e-Compass sensors.

The outputs of all sensors are processed by the STM32F103 microcontroller in the INEMO-M1, and fused in a Kalman filter to compensate for drift and provide stable orientation.

The AHRS firmware is only a demonstrator and it is used to run the 3D Demo Cube of the Discovery-M1 iNEMO Suite.

pdf データシート
Data Brief

Key Features

  • AHRS library in .lib format for iNEMO Suite 3D Demo Cube
  • Outputs:
  • Quaternions
  • Headings, pitch and roll
  • Max ODR of 50 Hz
  • System requirements:
  • 11 Kbyte Flash memory
  • 6 Kbyte RAM



Technical Documentation

Product Specifications

Description Version Size
DB1961: AHRS for Discovery-M1
1.0 329 KB

User Manual

Description Version Size
UM1639: How to upgrade the firmware of STEVAL-MKI121V1 using DFU
1.1 281 KB

Presentations & Training Material


Description Version Size
Discovery M1 Overview
565 KB

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