Hi. So I found a website that turns acceleration data into tilt angles: https://www.instructables.com/id/How-to-Measure-Angle-With-MPU-6050GY-521/

I'm wondering if anyone can explain how this is done? Namely, what's going on with the arduino map function and with the geometry/trigonometry? What formula is being used??

I want to use this code for a project except I want to understand what's going on first. I tried posting this in the math stack exchange but couldn't get an answer, so hopefully someone here can help!

Here's the code I use, which is basically the same as on the site except the method for getting the acceleration data:

```
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
int xAng = map(ax, minAcel, maxAcel, -90, 90);
int yAng = map(ay, minAcel, maxAcel, -90, 90);
int zAng = map(az, minAcel, maxAcel, -90, 90);
//tilt angles
double x = RAD_TO_DEG * (atan2(-yAng, -zAng) + PI);
double y = RAD_TO_DEG * (atan2(-xAng, -zAng) + PI);
```

Best.