Guidance on L3GD20H angles

• uMyo

  5 16 10.0 C
  

For proper integration, the simplest way is to use quaternion math - at turn on set rotation quaternion to one that represents zero rotation, and then adjust it with every new data point. You can use my code from uMyo project - based on function calculate_quat() here: https://github.com/ultimaterobotics/uMyo/blob/main/lsm6ds3.c which uses quat_math and fast_math .c, .h files from the same repository. But there it's significantly more complicated than you need (performing auto-calibration and taking into account gravity for compensating vertical axis drift). In the simplest form it would be the following (assuming Qsg is our quaternion of interest, declared outside of update function and initialized as .w=1, .x=0,.y=0,.z=0):

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