is it possible to implement the filter to a single wii motion plus and use it on a self-balancing robot?
kalman->x_angle += dt * (dotAngle - kalman->x_bias)
kalman->x_bias += K_1 * y;
const float y = angle_m - kalman->x_angle;
kalman->x_angle += dt * (dotAngle) - (kalman->x_bias)
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