For Propeller users out there, I recently posted a new IMU object to the Prop forum:

Functionally, it is pretty much the same as the one we've been using. Still uses a SparkFun 5DF IMU board, and MCP3208 ADC. But I translated the original code to assembly, and freed up a cog.

Now it runs at ~2700 Hz (unnecessarily fast, but that is what it is doing)
Only uses two cogs. One for reading the MCP3208, and another for IMU/Kalman filtering.
Loads from just one .spin file.

I wont be posing it to the object exchange for a while. Maybe never, but you can download it here.



It hasn't been tested in anything dangerous yet, so if you use it, play with it a while in a controlled environment first. Also, if you can thing of better values for q_gyro, q_angle, and r_angle, let me know.

It was noted that if instead of a SPI ADC, we used a parallel ADC, it might be possible to get it down to one cog.