Nine-Axis Sensor Fusion Using Direction Cosine Matrix Algorithm on MSP430F5xx (Rev. A)

Texas Instruments

Published Date: 02/13/2012


This application report explains the implementation of an Attitude and Heading Reference System (AHRS) using the ultra-low-power MSP430F5xx microcontroller a magnetometer a gyroscope and an accelerometer on all three axes. The calibration of the sensors is key to the accuracy of the algorithm therefore the sensors’ output must be calibrated before being input to the Direction Cosine Matrix (


Part Number Name Companion Part
MSP430F5234IRGZT MSP430F5234IRGZT Buy Datasheet
MSP430F5239IRGCR MSP430F5239IRGCR Buy Datasheet
MSP430F5239IRGCT MSP430F5239IRGCT Buy Datasheet
MSP430F5242IRGZR MSP430F5242IRGZR Buy Datasheet
MSP430F5242IRGZT MSP430F5242IRGZT Buy Datasheet
MSP430F5244IRGZR MSP430F5244IRGZR Buy Datasheet
MSP430F5247IRGCR MSP430F5247IRGCR Buy Datasheet
MSP430F5247IZQER MSP430F5247IZQER Buy Datasheet
MSP430F5249IZQER MSP430F5249IZQER Buy Datasheet
MSP430F5252IZQE MSP430F5252IZQE Buy Datasheet
MSP430F5252IZQER MSP430F5252IZQER Buy Datasheet
MSP430F5253IRGCT MSP430F5253IRGCT Buy Datasheet
MSP430F5253IZQE MSP430F5253IZQE Buy Datasheet
MSP430F5254IRGCT MSP430F5254IRGCT Buy Datasheet
MSP430F5255IRGCR MSP430F5255IRGCR Buy Datasheet
MSP430F5255IZQER MSP430F5255IZQER Buy Datasheet
MSP430F5256IRGCT MSP430F5256IRGCT Buy Datasheet
MSP430F5256IZQE MSP430F5256IZQE Buy Datasheet
MSP430F5257IZQER MSP430F5257IZQER Buy Datasheet
MSP430F5258IRGCT MSP430F5258IRGCT Buy Datasheet