# AHRS for Adafruit's 9-DOF, 10-DOF, LSM9DS0 Breakouts ## Introduction Warning: https://www.youtube.com/watch?v=CoyU3W925io&feature=youtu.be [AHRS](http://en.wikipedia.org/wiki/Attitude_and_heading_reference_system) is an acronym for _ **Attitude and Heading Reference System** _, a system generally used for aircraft of any sort to determine _heading, pitch, roll_, _altitude_ etc. A basic IMU (Intertial Measurement Unit) generally provides raw sensor data, whereas an AHRS takes this data one step further, converting it into heading or direction in degrees, converting the raw altitude data into standard units like feet or meters, etc. To help you get started designing your own AHRS system, or just tp help convert raw sensor data into useful numbers that you can relate to the real world, we've created a sample AHRS sketch for the [Adafruit 10-DOF IMU](https://www.adafruit.com/products/1604 "Link: https://www.adafruit.com/products/1604"), [Adafruit 9-DOF IMU](http://www.adafruit.com/products/1714 "Link: http://www.adafruit.com/products/1714"), and [Adafruit\_LSM9DS0](https://learn.adafruit.com/adafruit-lsm9ds0-accelerometer-gyro-magnetometer-9-dof-breakouts/overview "Link: https://learn.adafruit.com/adafruit-lsm9ds0-accelerometer-gyro-magnetometer-9-dof-breakouts/overview") breakouts. Danger: ![](https://cdn-learn.adafruit.com/assets/assets/000/015/502/medium800thumb/sensors_Rabbit10DOF.jpg?1448311547) # Related Links - [Adafruit's 10-DOF Breakout Learning Guide](http://learn.adafruit.com/adafruit-10-dof-imu-breakout-lsm303-l3gd20-bmp180 "Link: http://learn.adafruit.com/adafruit-10-dof-imu-breakout-lsm303-l3gd20-bmp180") - [Adafruit's 9-DOF Breakout Learning Guide](http://learn.adafruit.com/adafruit-9-dof-imu-breakout "Link: http://learn.adafruit.com/adafruit-9-dof-imu-breakout") - [Adafruit's LSM9DS0 Breakout Learning Guide](https://learn.adafruit.com/adafruit-lsm9ds0-accelerometer-gyro-magnetometer-9-dof-breakouts/overview "Link: https://learn.adafruit.com/adafruit-lsm9ds0-accelerometer-gyro-magnetometer-9-dof-breakouts/overview") - [Next Page](https://learn.adafruit.com/ahrs-for-adafruits-9-dof-10-dof-breakout/software.md) ## Featured Products ### Adafruit 9-DOF IMU Breakout - L3GD20H + LSM303 [Adafruit 9-DOF IMU Breakout - L3GD20H + LSM303](https://www.adafruit.com/product/1714) This inertial-measurement-unit combines 2 of the best quality sensors available on the market to give you 9 axes of data: 3 axes of accelerometer data, 3 axes gyroscopic, and 3 axes magnetic (compass). We tested many different 'combination' sensors and found these were the best value,... No Longer Stocked [Buy Now](https://www.adafruit.com/product/1714) [Related Guides to the Product](https://learn.adafruit.com/products/1714/guides) ### Adafruit 10-DOF IMU Breakout - L3GD20H + LSM303 + BMP180 [Adafruit 10-DOF IMU Breakout - L3GD20H + LSM303 + BMP180](https://www.adafruit.com/product/1604) This inertial-measurement-unit combines 3 of the best quality sensors available on the market to give you 11 axes of data: 3 axes of accelerometer data, 3 axes gyroscopic, 3 axes magnetic (compass), barometric pressure/altitude and temperature. We tested many different 'combination'... No Longer Stocked [Buy Now](https://www.adafruit.com/product/1604) [Related Guides to the Product](https://learn.adafruit.com/products/1604/guides) ### Adafruit 9-DOF Accel/Mag/Gyro+Temp Breakout Board - LSM9DS0 [Adafruit 9-DOF Accel/Mag/Gyro+Temp Breakout Board - LSM9DS0](https://www.adafruit.com/product/2021) Add motion, direction and orientation sensing to your Arduino project with this all-in-one 9-DOF sensor. Inside the chip are three sensors, one is a classic 3-axis accelerometer, which can tell you which direction is down towards the Earth (by measuring gravity) or how fast the board... No Longer Stocked [Buy Now](https://www.adafruit.com/product/2021) [Related Guides to the Product](https://learn.adafruit.com/products/2021/guides) ### FLORA 9-DOF Accelerometer/Gyroscope/Magnetometer - LSM9DS0 [FLORA 9-DOF Accelerometer/Gyroscope/Magnetometer - LSM9DS0](https://www.adafruit.com/product/2020) Add motion, direction and orientation sensing to your wearable FLORA project with this high precision 9-DOF sensors. Inside are three sensors, one is a classic 3-axis accelerometer, which can tell you which direction is down towards the Earth (by measuring gravity) or how fast the... No Longer Stocked [Buy Now](https://www.adafruit.com/product/2020) [Related Guides to the Product](https://learn.adafruit.com/products/2020/guides) ## Related Guides - [Home Automation in the Cloud with the ESP8266 & Adafruit IO](https://learn.adafruit.com/home-automation-in-the-cloud-with-the-esp8266-and-adafruit-io.md) - [NeoPix Arcade Kit - 1D Arcade Game System - Circuit Playground](https://learn.adafruit.com/neopix-arcade-kit-1d-arcade-game-system-circuit-playground.md) - [No-Code IoT Door Alarm with WipperSnapper](https://learn.adafruit.com/no-code-iot-door-alarm-with-wippersnapper.md) - [Metal Inlay Capacitive Touch Buttons](https://learn.adafruit.com/metal-inlay-capacitive-touch-buttons.md) - [Arduino Lesson 17. 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