Based on the zero-speed update algorithm gait detection, STM32 microcontroller to achieve, the effect is very good, you can calculate the displacement, angle and so on.

mpu9250_zupt\CORE\arm_common_tables.h
............\....\arm_const_structs.h
............\....\arm_math.h
............\....\core_cm0.h
............\....\core_cm0plus.h
............\....\core_cm3.h
............\....\core_cm4.h
............\....\core_cm4_simd.h
............\....\core_cmFunc.h
............\....\core_cmInstr.h
............\....\core_sc000.h
............\....\core_sc300.h
............\....\startup_stm32f40_41xxx.s
............\FWLIB\inc\misc.h
............\.....\...\stm32f4xx_adc.h
............\.....\...\stm32f4xx_can.h
............\.....\...\stm32f4xx_crc.h
............\.....\...\stm32f4xx_cryp.h
............\.....\...\stm32f4xx_dac.h
............\.....\...\stm32f4xx_dbgmcu.h
............\.....\...\stm32f4xx_dcmi.h
............\.....\...\stm32f4xx_dma.h
............\.....\...\stm32f4xx_dma2d.h
............\.....\...\stm32f4xx_exti.h
............\.....\...\stm32f4xx_flash.h
............\.....\...\stm32f4xx_flash_ramfunc.h
............\.....\...\stm32f4xx_fmc.h
............\.....\...\stm32f4xx_fsmc.h
............\.....\...\stm32f4xx_gpio.h
............\.....\...\stm32f4xx_hash.h
............\.....\...\stm32f4xx_i2c.h
............\.....\...\stm32f4xx_iwdg.h
............\.....\...\stm32f4xx_ltdc.h
............\.....\...\stm32f4xx_pwr.h
............\.....\...\stm32f4xx_rcc.h
............\.....\...\stm32f4xx_rng.h
............\.....\...\stm32f4xx_rtc.h
............\.....\...\stm32f4xx_sai.h
............\.....\...\stm32f4xx_sdio.h
............\.....\...\stm32f4xx_spi.h
............\.....\...\stm32f4xx_syscfg.h
............\.....\...\stm32f4xx_tim.h
............\.....\...\stm32f4xx_usart.h
............\.....\...\stm32f4xx_wwdg.h
............\.....\src\misc.c
............\.....\...\stm32f4xx_adc.c
............\.....\...\stm32f4xx_can.c
............\.....\...\stm32f4xx_crc.c
............\.....\...\stm32f4xx_cryp.c
............\.....\...\stm32f4xx_cryp_aes.c
............\.....\...\stm32f4xx_cryp_des.c
............\.....\...\stm32f4xx_cryp_tdes.c
............\.....\...\stm32f4xx_dac.c
............\.....\...\stm32f4xx_dbgmcu.c
............\.....\...\stm32f4xx_dcmi.c
............\.....\...\stm32f4xx_dma.c
............\.....\...\stm32f4xx_dma2d.c
............\.....\...\stm32f4xx_exti.c
............\.....\...\stm32f4xx_flash.c
............\.....\...\stm32f4xx_flash_ramfunc.c
............\.....\...\stm32f4xx_fmc.c
............\.....\...\stm32f4xx_fsmc.c
............\.....\...\stm32f4xx_gpio.c
............\.....\...\stm32f4xx_hash.c
............\.....\...\stm32f4xx_hash_md5.c
............\.....\...\stm32f4xx_hash_sha1.c
............\.....\...\stm32f4xx_i2c.c
............\.....\...\stm32f4xx_iwdg.c
............\.....\...\stm32f4xx_ltdc.c
............\.....\...\stm32f4xx_pwr.c
............\.....\...\stm32f4xx_rcc.c
............\.....\...\stm32f4xx_rng.c
............\.....\...\stm32f4xx_rtc.c
............\.....\...\stm32f4xx_sai.c
............\.....\...\stm32f4xx_sdio.c
............\.....\...\stm32f4xx_spi.c
............\.....\...\stm32f4xx_syscfg.c
............\.....\...\stm32f4xx_tim.c
............\.....\...\stm32f4xx_usart.c
............\.....\...\stm32f4xx_wwdg.c
............\HARDWARE\data_send\data_send.c
............\........\.........\data_send.h
............\........\IIC\myiic.c
............\........\...\myiic.h
............\........\MahonyAHRS\MahonyAHRS.c
............\........\..........\MahonyAHRS.h
............\........\Sensor\Sensor.c
............\........\......\Sensor.h
............\........\TiltCompensated\TiltCompensated.c
............\........\...............\TiltCompensated.h
............\........\timer\timer.c
............\........\.....\timer.h
............\........\zupt_detector\zupt_detector.c
............\........\.............\zupt_detector.c(2)
............\........\.............\zupt_detector.h
............\........\.............\zupt_detector.h~RF29c863c.TMP
............\........\.............\zupt_detector.h~RF2a07146.TMP
............\........\.............\zupt_detector.h~RF2a7a0bf.TMP
............\........\.............\zupt_detector.h~RF2abb113.TMP
............\........\.............\zupt_detec

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