IMU Configuration Software v2.0
The CHR-6d configuration software provides a convenient user-interface for visualizing real-time
data from the IMU, and for configuring the on-board filter and transmission modes. The version 2.0
software includes the ability to retrieve pitch and roll angles from all CHR-6d IMUs equipped with
the new version 2.0 firmware.
CHR-6d Firmware v2.0 Source
The CHR-6d v2.0 firmware includes an onboard EKF for pitch and roll angle estimation. The above link includes
the zipped source code and a precompiled .HEX image that can be downloaded to the IMU. For directions,
visit this page on the support forum. Details
about using the new firmware can be found in the CHR-6d Datasheet.