Larry Littlefield
IMU 10dof MEMS from DR Robot adapted from HK10DOF Changed gyro to ITG3200
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HK10DOF
by 
Aloïs Wolff
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WARNING: This project is not complete, but this library seems ok so far.
I have the module DFRobotics.com 10DOF MEMS IMU. I wanted a concise module for resolving direction and movement.
I found HK10DOF library (http://developer.mbed.org/users/pommzorz/code/HK10DOF/) with quaternions. But it used a different gyro. So I modified that code to use the same higher level calls but use the ITG3200 low level calls.