I am building a robot and I need to keep track of turns. In other words I need to know the amount of rotation about the Z-axis where Z points straight up into the sky. So just a single scalar number. Unfortunately my 6050 chip is on a pcb board that is tilted. So the Z-axis of my 6050 attitude s…

With the code below, it does not matter whether the MPU-6050 board is tilted. Yaw is relative, and calculated about an axis parallel to the gravity vector. The gyro must be very carefully calibrated to reduce drift. [image] GitHub - jremington/MPU-6050-Fusion: Mahony 3D filter for accel/g…

How do I convert a 3-axis quaternion to a 1-axis x-y axis plane?

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How do I convert a 3-axis quaternion to a 1-axis x-y axis plane?

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