Hi everyone! I hate to bring up an old post, but I want to post a shout-out to the RoboBees for providing the FIRST community with an elegant AHRS implementation!
As some of you may know, I've been working to improve the software libraries available for the ADIS16448 IMU. I ran across the RoboBees implementation and managed to integrate it into the main IMU code.
Once again, thank you very much for all of your hard work! If you would like to take a look at the code, you can find it on GitHub
here.