topic Implementing Sensor Fusion Library for ST-LSM9DS1 in Sensors

Implementing Sensor Fusion Library for ST-LSM9DS1

Mason_S — Tue, 03 Feb 2026 21:30:51 GMT

Hi all,
It's Mason and It's been a while that I'm working with IMUs and Sensor fusion libraries.
Recently I tried to implement FS sensor fusion for Arduino Nano 33 ble which has embedded LSM9DS1 IMU sensor.
I downloaded the version 7 of the library from the link below:

https://github.com/BjarneBitscrambler/OrientationSensorFusion-ESP

I reviewed all of the library files and example but I didn't get how to edit the code for my own board.
Adding a sensor with driver file is a little bit confusing.
It's I will be grateful for any help.
I will also tag some of tech experts too, hoping for faster respond.
@TomasVaverka @JozefKozon @reyes

Kind Regards,
Mason

Re: Implementing Sensor Fusion Library for ST-LSM9DS1

TomasVaverka — Mon, 26 Jul 2021 09:11:28 GMT

Hi Mason,

As far as I know there is no porting guide available for the sensor fusion library. However, you might find useful a user guide that provides high level architecture as part of section #4 (see snapshot below). Also it provides details of various sub-systems and functions along with data structures.

You can also refer to available sensor fusion library documents (API reference manual etc.) by downloading supported sensor kits SDK from https://mcuxpresso.nxp.com. Providing below a snapshot of SDK documentation for the FRDM-K64F-AGM01 kit where you can find sensor fusion library documentation:

Best regards,

Tomas

Re: Implementing Sensor Fusion Library for ST-LSM9DS1

Mason_S — Sat, 31 Jul 2021 07:21:10 GMT

Hi @TomasVaverka ,
Thanks for responding.

That's unfortunate.
Isn't there any example for library?
Figuring out the library process is really confusing even with user guide.

I have been trying to implement the sensor data but unfortunately I'm not getting valid output, I will attach the output.

I don't know the reason but as can see in picture, the numbers are soooo float

Regards,

Mason