I've made some AHRS software with altitude and temperature sensing using an AltIMU-10. Its for Arduino and I've tested it on an Arduino Nano v3. It's a quaternion based AHRS that can provide an output in either euler angles (heading, pitch, roll), a rotation matrix or a quaternion. It also smooths altitude and temp readings using a rolling average low pass filter. It's got a few other useful features too.
camelsoftware.com/firetail/b ... 0-arduino/
Just thought you guys might be interested!