Guide to gyro and accelerometer with Arduino including Kalman filtering

It is right gyros are not affected by the gravity only accelerometers!

Okay you have to understand that just because you rotate the sensor does not mean that you can measure yaw. So your answer is:
1.1: N
2.1: Y
2.3: N

No matter what you can NOT measure yaw with a accelerometer, unfortunately :frowning: If you only need a estimated angle you could just use the gyro, and then keep calibrating the zeroValue.
If you need to know the exact angle of the yaw, you have to use a 9DOF!!
Hopes that was what you needed to know or just post another comment, and I will gladly help :slight_smile:
Nice hand drawing btw :smiley:

  • Lauszus