Filtering accelerometer data noise

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The samples from Apple’s SDK actually implement the filtering in an even simpler way which is by using ramping:

//ramp-speed - play with this value until satisfied
const float kFilteringFactor = 0.1f;

//last result storage - keep definition outside of this function, eg. in wrapping object
float accel[3]; 

//acceleration.x,.y,.z is the input from the sensor

//result.x,.y,.z is the filtered result

//high-pass filter to eliminate gravity
accel[0] = acceleration.x * kFilteringFactor + accel[0] * (1.0f - kFilteringFactor);
accel[1] = acceleration.y * kFilteringFactor + accel[1] * (1.0f - kFilteringFactor);
accel[2] = acceleration.z * kFilteringFactor + accel[2] * (1.0f - kFilteringFactor);
result.x = acceleration.x - accel[0];
result.y = acceleration.y - accel[1];
result.z = acceleration.z - accel[2];

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