Hi all,

I'm writing a node (C++) to interface with the ST iNemo-M1 Discovery board (STEVAL-MKI121V1):

If you do not know it, it is a 9DOF IMU based on iNemo SOC, with a 9DOF IMU, plus Barometer and Temperature sensor, coordinated by a  STM32F103

I want to write a Serial Driver to communicate with the "original Firmware" that provides a good pose estimation (RPY and Quaternion) based on a Kalman Filter.

The source code is available on my Github repository:

I would like that someone could contribute with my work, I started writing code for ROS only at the beginning of september and any suggestion would be really appreciated.

Regards

Walter