Obtaining Solid Euler Angles in the board we designed and produced with MPU 9250 sensor and add PID control for steering and speed our model boat.

We designed a control board which includes MPU9250 sensor. We are reading the values from the sensor. WE need an algorithm which converts the values to Euler agles using some sensor fusion algorithm. Additionally my boat (a model) weill be controlled with PID using our control card. It fallows way points will be stored in the flash memory of the card. The card is ready and working well. Reads raw IMU values (acceleration, gyro, magnetometer) values and CORS-GPS location The cards transmits the values to computer and I can read and save them. Here the values the card sent will be in this format: East,North,Roll,Pitch, heading and depth. The card uses DSPIC33FJ128GP804-I/PT Mikrochip, We use for code: MPLAB X IDE v3.10. Driver is already written and our firmware reads raw values (accel, gyro and magnetometer) from sensor. I only need a code which give me stable Euler angles using raw values. The code will be embedded to our code and we will test whether it gives stable angles or not. We assume MPU is located to origin wherever we palace the card. My GPS is geodetic GPS. working with CORS system and the accuracy about below 7-8 cm level. The size of the boat is 1250x650x180 mm. weight is changing between 12-21kg depending on payload and battery . the water is usually smooth, some small waves because of the boat, but there might be wind.