accXangle = acos(accXval/R)*RAD_TO_DEG-90;accYangle = acos(accYval/R)*RAD_TO_DEG-90;
accXangle = asin(accXval)*RAD_TO_DEG;accYangle = asin(accYval)*RAD_TO_DEG;
You can not use the kalman filter with only one input. Sorry but you need a gyro too, that is why it called "sensor fusion" You could perhaps use some other kind of smoothing algorithm. - Lauszus
int difference = reading - lastreading;abs(difference);if(difference > 10) reading = lastreading;
the accelerometer can not measure the yaw
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