This sample has been deprecated/archived. Check this repo for related samples:
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Extended Kalman Filter (EKF) to fuse GPS coordinates, Altitude, Velocity(NED), Accelerometer X, Accelerometer Y, Accelerometer Z, Gyro X, Gyro Y, Gyro Z, Magnetometer X, Magnetometer Y and Magnetomete...
Read ADXL355 PMDZ accelerometer on Arduino