One of examples for Navio demonstrates the work of Mahony AHRS with data from the MPU9250. We’ve also made a simple but cool visualizer for it that you can run on your PC\Mac. Here’s the instruction how to run AHRS and visualizer:
On your PC\Mac
Download the archive with Navio utilities.
Extract the archive, enter the directory with 3DIMU utility and run it:
cd Navio/Utilities/3DIMU python 3Dimu.py
On your Raspberry Pi
Clone Navio repository, navigate to the folder with AHRS example, compile and run it:
git clone https://github.com/emlid/Navio.git cd Navio/C++/AHRS make ./AHRS X.X.X.X 7000
Where X.X.X.X is an ip address of your PC. 7000 is the port number used in 3DIMU.
Now try to move your Navio and check how the “brick” on screen moves along with it.