Guide to gyro and accelerometer with Arduino including Kalman filtering

No that is not correct. The thing is that the accelerometers can not "see" when rotate the IMU along yaw. So it will not make a difference if you just rotate the sensor. Remember that it measures acceleration, which I use to measure Earth gravitational force to calculate the angle. You can also use a accelerometer in for example a rocket to measure the acceleration of the rocket.

I am not sure that I understand your second question? :slight_smile:

  • Lauszus