Open-Source Software
Link to Github
EULER-NAV BAHRS
Miniature Baro-Inertial Attitude and Heading Reference System
Summary
Output
- Roll, pitch, magnetic heading
- Pressure altitude, vertical speed
- Angular rates, specific force
Sensor redundancy
Customizable software
Size 40x40x25 mm
Interfaces
- CAN
- Serial: RS232 (low-voltage TTL version available on request)
IMU performance
Gyroscope:
- 0.1 deg/sqrt(h) random walk
- 3 deg/h bias instability
Accelerometer:
- 0.04 m/s/sqrt(h) random walk
- 20 ug bias instability
Electrical and environmental
Supply voltage: 5 to 28 V
Сurrent consumption: 0.1 A
Operating temperature: -40 to +80 °C
Environmental protection: IP67 (provided that static pressure tube is properly connected)
Compatible with PX4 Autopilot
File size: 259.29 KB
A step-by-step guide explaining how to activate EULER-NAV driver on PX4 Autopilot
Detailed description
Introduction
The Baro-Inertial Attitude and Heading Reference System (BAHRS) incorporates an IMU, a barometer, a magnetometer, and a powerful microcontroller. The device performs sophisticated Kalman filtering to estimate accurate attitude, heading, vertical speed, and pressure altitude. Triple sensor redundancy enables the device to detect and isolate faulty signals. All sensors are sourced from different vendors.
EULER-NAV Software Licensing Options
EULER-NAV Baro-Inertial AHRS is designed for safety-critical drone and UAM applications. To support different programs and budgets, we offer three license tiers and two payment models – including a rent-to-own option.
License tiers
Free software
Includes selected software components and functions
- Sensor drivers
- RS232 output
- Synchronization pulse handler
- Precompiled algorithms and math utilities
- Evaluation scripts
Basic License – “Black-Box Sensor Fusion”
- Full source code including sensor and interface drivers, development tools, design documentation, and test specifications
- Sensor fusion library delivered as a binary (black box)
- Ideal when you want robust, proven fusion but don’t need to inspect or modify the core algorithms
Full License – “White-Box Sensor Fusion”
- Everything in Basic
- Sensor fusion library delivered as source code + extended technical documentation
- Ideal for OEMs targeting SAIL III+ / Part 108 operations who need full transparency for safety cases and certification
License principles
Basic Perpetual License
- Rights: use, modify, extend and distribute derived work in binary form only.
- Deployment: the derived work must be deployed exclusively on EULER-NAV hardware, or in tools supporting development of modified software.
- Support: 12 months of software updates + email/telephone support up to 24 person-hours.
- Number of seats: up to 10 active developers per month (expandable).
- End use: civil only; no military/defense.
Full Perpetual License
- Same conditions as in the Basic.
- Sensor fusion library and relevant documentation are delivered as source code.
- Support: 24 months of updates + email/telephone support up to 40 person-hours.
Subscription with conversion to perpetual (“rent-to-own”)
For programs where a large upfront payment is difficult, we offer a subscription that automatically converts into a perpetual license after a fixed period. All subscription payments are credited toward the perpetual license.
Subscription duration
- Convertible Basic: 12 months
- Convertible Full: 24 months
While the subscription is active
- You receive the same content and rights as the corresponding perpetual license (Basic or Full), but time-limited.
- You can integrate, adapt and validate EULER-NAV products in your platform while spreading costs over time.
Early termination (before conversion)
If you need to pause the subscription you may:
- continue operating systems that already have EULER-NAV firmware integrated while the license was active.
- keep one encrypted archival copy of the code/binaries (and, for Full, source code) for evidence, safety audits and traceability.
It is prohibited to:
- build new firmware versions or product variants using the licensed software.
- ship new products that include binaries built using the licensed software.
- continue development, integration or testing work based on the licensed code.
Renewal & buy-out continuity
The subscription can be renewed at any time. When renewed, all rights are restored, and all previous subscription payments continue to count toward the buy-out / conversion to a perpetual license (according to the agreed price formula).
Talk with us
Licensing for safety-critical systems is rarely one-size-fits-all. If you’re unsure which option fits your program best, we’re happy to discuss it under NDA and tailor discounts for strategic projects. To Contact form.
Copyright 2025 AMS Advanced Air Mobility Sensors UG. All rights reserved.