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Thus the IMU-system containing gyroscopes, accelerometers and magnetometer will be used in this paper as a basis to track the position and orientation. This position-system must satisfy the requirements given in section 2. In section 3 the design based on the position-system will be given. In sections 4 up to.

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In C implementation, to avoid unnecessary conversion, I think to get the tilt of accelerometer it will be better to just stick with ADCRx - 512 (using 10 bit adc) to get the angle, at 3.3V input at the accelerometer, the typical 0deg position will be 1.65 which will yield also 512 in a 3.3V vref, a greater than 512 value means tilt angle at the 1st quadrant then a less than 512.

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