This Project

An open-source qibla finder with tilt compensation using 9-DoF IMU and GPS connected with Arduino.

Features

The Qiblah project features are:

• Determining the Qibla using the magnetometer and/or the GPS receiver in case the circuit is likely to move for long distances.
• Tilt compensation.
• Magnetometer calibration.
• Open source for non-commercial purposes.
• Built with public and available circuits and easy to rebuild.
• Well documented.

Hardware

• Arduino board.
• BMI270 shuttle board (using BMI270_AUX_BMM150 library).
• Adafruit Mini GPS PA1010D.
• Monochrome 0.91" 128x32 I2C OLED Display.

Demo

demo.mp4

Contribution

This circuit is built and tested in my city. Anyone can re-build and validate it with correct qiblah direction, please report a confirmation in issues.

Documentation

• Arabic.
• English.

References:

• The Correct Qibla
• Implementing a Tilt-Compensated eCompass using Accelerometer and Magnetometer Sensors.
• Towards understanding IMU: Basics of Accelerometer and Gyroscope Sensors and How to Compute Pitch, Roll and Yaw Angles.
• Magnetometer Soft Iron and Hard Iron Calibration: Why and How.
• Towards understanding IMU: Frames of reference used to represent IMU orientation and how to visualize the circuit orientation using Vpython library.