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There's a lot going on here, and the issues aren't very clear to me. I would suggest trying to tackle your problems one at a time, and to not move on until you are confident the root issues are sorted out. For example, you have trouble with your PID output, but you also have issues with your angle estimates. You'll never fix the PID controller until you get ...


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Expanding on the answer given by C.O Park and comment by Ben. The gyroscope and accelerometer will give you 6 sensor values corresponding to the $x$/$y$/$z$ linear accelerations and the $x$/$y$/$z$ angular velocities. If you are looking to interpret whether your robot is turning left or right at any particular moment then you can simply check the sign of the ...


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The acceleration raw data looks weird, because of the discrete jumps. For comparison here is raw data from a stationary MPU-9150 (MEMS IMU): The raw accelerometer and gyroscope data are not integrated, and thus should not experience integration drift. The roll and pitch are integrated quantities, which then follow a random walk, and could end up anywhere. ...


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