Madgwick IMU Filter

Hello,

I am in need of a LV program for Madgwick's 6 DOF IMU filter.

Here is a link to the Madwick example currrently posted on NI:

https://decibel.ni.com/content/docs/DOC-18964

The above example is the code for Madwick's 9DOF MARG Filter and like I said, I need the 6DOF one. I have zero experience with c code and tanslating it and have limited experience with LabView.  

Attached is Madwick's report, At the very end of the document will be the code that needs translating to LabView.

Ultimately, I will place a "For Loop" around this IMU Filter and index arrays of gyroscope and accelerometer measurements into it and output a quaternion array.  I will be able to to do that myself, just need help in translating the code correctly.

Thanks and Happy Easter