ROS-based AHRS for RM-G146 on Beagle Bone Black Rev-C.
RM-G146 manual: http://www.roboard.com/Files/G146/RoBoard_RM-G146.pdf
Beagle Bone Black: https://beagleboard.org/black
Madgwick's IMU and AHRS sensor fusion algorithm: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/
This software is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY.