sorry to bring up that old thread again, but i can't compile the code from duckhead v0.3 because of the missing angle°rees function.

i tried it myself and managed already to read nunchuck an wm+ data in passthrough mode. somehow my nunchcuk-Z-axis values needed to be divided by 2 to get to the same level of values, anyone else to do that?

so i have got everything for a kalman filtering: all 3 gyros value, already zerod and all 3 acceleration value (z, as mentioned divided by 2).

coud you help me providing code for a 6 DOF kalman filtering?

thank you!