The code is released under the GNU General Public License.
This is the firmware for the my guide at the Arduino forum: http://arduino.cc/forum/index.php/topic,58048.0.html, including a Processing application (see the Graph directory) to visualize the data sent from the Arduino.
There is currently examples for the following IMU's:
The Kalman filter used in all the examples can be found at my other repository: https://awesomeopensource.com/project/TKJElectronics/KalmanFilter.
Note that I update the MPU-6050 code more frequently, so you should take a look at that even if you are using one of the other sensors.
For more information fell free to post a question at the guide: http://arduino.cc/forum/index.php/topic,58048.0.html or send me an email at [email protected].