Combine Gyroscope and Accelerometer Data

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Kalman Filters are great and all, but I find the Complementary Filter much easier to implement with similar results. The best articles that I have found for coding a Complementary Filter are this wiki (along with this article about converting sensors to Engineering units) and a PDF in the zip file on this page (Under Technical Documentation, I believe the file name in the zip is filter.pdf);

PS. If your stuck on a Kalman Filter, here is some C-syntax code for the Arduino that implements it.

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