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The acceleration from the IMU is quite noisy. You may be able to detect the acceleration when turning, but the result won't be very accurate and would likely only work well on very tight turns. Another issue would be that linear accelerations of the car would be detected as turns. If the phone is fixed to the windscreen, then it likely has a good view of the ...


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Unless your robot is experiencing sustained accelerations on the order of 1g, ignoring linear accelerations to compute the tilt angle should work well. Besides, typically the weight on the accelerometer measurement is much lower than that on the gyroscope measurement in a standard complementary filter so any linear accelerations should only add a small bias. ...


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