I worked on the programming of the MARG. We use Ultimate Sensor Fusion Solution designed by Pesky Product. It is made up of an EM7180 Sensor Hub coupled with an MPU9250 IMU. The EM7180 outputs quaternions. We tested with the Lucas’ simulation.
We judged this model will be enough for us and bouLED. So we will definitely use it for the design of our PCB.