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.I have a little programming background in Matlab and Fortran but I am just lost when I look at your processing code to get the yaw, pitch, roll values from the FreeIMU.
Accept 1 answer given by other contributors. Sorry for the lack of javadoc in some places, I'll catch up.
Example Matlab communication code; Source Code. Differential GPS.
Smooth GPS data. Multi BUG object tracking!