CHR-6dm Attitude and Heading Reference System

File downloads

• CHR-6dm AHRS datasheet (489k pdf)

  Datasheet for the CHR-6dm attitude and heading reference system (AHRS).

• CHR-6dm AHRS Interface PC application (267k zip)

  Windows application for configuring the CHR-6dm AHRS over a serial port and displaying data from the module in real-time.
  Note: this software requires the latest version of DirectX.

  AHRS Interface PC software for the CHR-6dm AHRS IMU.

• CHR-6dm AHRS firmware v1.0 (630k zip)

  Firmware for the CHR-6dm AHRS (version 1.0). CHR-6dm firmware by CH Robotics is licensed under a Creative Commons Attribution-Share Alike 3.0 United States License

• CHR-6dm AHRS PC application source code (1MB zip)

  Source code (Visual C# project) for the AHRS PC software used to configure the CHR-6dm AHRS and display data from it in real-time. CHR-6dm configuration software by CH Robotics is licensed under a Creative Commons Attribution-Share Alike 3.0 United States License

• LPR510AL datasheet (226k pdf)

  Datasheet for the ST LPR510AL MEMS motion sensor: dual axis pitch and roll ±100°/s analog output gyroscope.

• LY510ALH datasheet (217k pdf)

  Datasheet for the ST LY510ALH MEMS yaw-rate gyroscope.

• ADXL335 datasheet (427k pdf)

  Datasheet for Analog Device’s ADXL335 3-axis accelerometer.

• HMC5843 datasheet (624k pdf)

  Datasheet for the Honeywell HMC5843 3-axis digital magnetic compass.

Recommended links

• STM32F103T8

  Datasheet and other downloads for the STM32F103T8 Cortex M3 processor.

• CHR-6dm magnetometer soft and hard iron calibration

  Video demonstrating how to calibrate the magnetometer on the CHR-6dm AHRS to correct hard and soft iron distortions in the magnetic field.

• CHR-6dm yaw angle calibration

  Video showing how set the zero yaw reference on the CHR-6dm AHRS.

• CHR-6dm pitch and roll angle calibration

  Video showing how to set the accelerometer reference vector on the CHR-6dm AHRS.