Guide to gyro and accelerometer with Arduino including Kalman filtering

Using Arduino Sensors
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You can not measure the yaw like that. The problem is that accZangle is not correct. Because accZangle is not affected when rotation the sensor, as I described earlier.

When I wrote calibrating I mean that you should keep doing this:

gyroZeroZ = calibrateGyroZ();

The reason why I outcommented it, is because it drifts, and I do not use it anywhere.

  • Lauszus